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Real-World Humanoid Locomotion with Reinforcement Learning
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Humanoid robots that can autonomously operate in diverse environments have the potential to help address labour shortages in factories, assist elderly at homes, and colonize new planets. While classical controllers for humanoid robots have shown impressive results in a number of settings, they are challenging to generalize and adapt to new environments. Here, we present a fully learning-based approach for real-world humanoid locomotion. Our controller is a causal transformer that takes the history of proprioceptive observations and actions as input and predicts the next action. We hypothesize that the observation-action history contains useful information about the world that a powerful transformer model can use to adapt its behavior in-context, without updating its weights. We train our model with large-scale model-free reinforcement learning on an ensemble of randomized environments in simulation and deploy it to the real world zero-shot. Our controller can walk over various outdoor terrains, is robust to external disturbances, and can adapt in context.
Forward citations
Cited by 4 Pith papers
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Shared Control of Holonomic Wheelchairs through Reinforcement Learning
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Generalized Locomotion in Out-of-distribution Conditions with Robust Transformer
A transformer with body tokenization and consistent dropout generalizes to unseen leg damages and sensor noise while trained on limited dynamics and clean observations.
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EMP: Executable Motion Prior for Humanoid Robot Standing Upper-body Motion Imitation
A state-conditioned executable motion prior network modifies upper-body motion targets so a humanoid can imitate human gestures while maintaining balance.
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