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Introducing HiLMa-Res: a hierarchical RL framework for quadrupeds to tackle loco-manipulation tasks with sustained mobility! Designed for general learning tasks (vision-based, state-based, real-world data, etc), the robot now can step over stones🐾/navigate boxes📦/dribble⚽.

Zhongyu Li

1,486 subscribers

11,720 Aufrufe • vor 1 Jahr •via X (Twitter)

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5 Kommentare

Profilbild von Zhongyu Li

Zhongyu Livor 1 Jahr

Catch our presentation at #IROS2024! The paper is here: This is a fun collaboration project with @x_h_ucb @qiayuanliao @smithlaura1028 @xbpeng4 @svlevine @KoushilSreenath & Yiming Ni

Profilbild von Jun Zeng

Jun Zengvor 1 Jahr

Finally you did this! We chatted about this long while ago haha!

Profilbild von sorina

sorinavor 1 Jahr

cute

Profilbild von Navkuran Ghuman

Navkuran Ghumanvor 1 Jahr

Could you use videos of cats navigating as training data for quadrupeds? We probably have a lot of cat footage on the internet that could be repurposed, but I don't know if there is a way to do this.

Profilbild von Zhongyu Li

Zhongyu Livor 1 Jahr

Yes, it is possible, and it has lots of potential! I think the bottleneck of doing this could be mapping the motion in 2D video to the robot in 3D.

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