QuietWalk combines an inverse-dynamics-constrained PINN for GRF estimation with RL to produce low-impact humanoid locomotion policies that generalize across footwear, cutting mean noise by 7.17 dB on hardware.
Legged locomotion in challenging terrains using egocentric vision
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A four-stage RL system with teacher-student distillation and online constrained adaptation enables humanoid robots to achieve robust ball-kicking accuracy under noisy perception in simulation and on physical hardware.
Sparsely gated MoE policies double the success rate of a real Unitree Go2 quadruped on large-obstacle parkour versus matched-active-parameter MLP baselines while cutting inference time compared with a scaled-up MLP.
citing papers explorer
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QuietWalk: Physics-Informed Reinforcement Learning for Ground Reaction Force-Aware Humanoid Locomotion Under Diverse Footwear
QuietWalk combines an inverse-dynamics-constrained PINN for GRF estimation with RL to produce low-impact humanoid locomotion policies that generalize across footwear, cutting mean noise by 7.17 dB on hardware.
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Learning Agile Striker Skills for Humanoid Soccer Robots from Noisy Sensory Input
A four-stage RL system with teacher-student distillation and online constrained adaptation enables humanoid robots to achieve robust ball-kicking accuracy under noisy perception in simulation and on physical hardware.
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Quadruped Parkour Learning: Sparsely Gated Mixture of Experts with Visual Input
Sparsely gated MoE policies double the success rate of a real Unitree Go2 quadruped on large-obstacle parkour versus matched-active-parameter MLP baselines while cutting inference time compared with a scaled-up MLP.
- CART: Context-Aware Terrain Adaptation using Temporal Sequence Selection for Legged Robots