A single RL policy controls walking, jumping, and standing gaits of a humanoid with tunable foot and posture parameters, plus a separate policy for hopping, and supports real-time upper-body intervention for loco-manipulation.
Combining trajectory optimization, supervised machine learning, and model structure for mitigating the curse of dimensionality in the control of bipedal robots
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A Unified and General Humanoid Whole-Body Controller for Versatile Locomotion
A single RL policy controls walking, jumping, and standing gaits of a humanoid with tunable foot and posture parameters, plus a separate policy for hopping, and supports real-time upper-body intervention for loco-manipulation.