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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 次观看 • 1 年前 •via X (Twitter)

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Zhongyu Li 的头像

Zhongyu Li1 年前

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

Jun Zeng 的头像

Jun Zeng1 年前

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

sorina 的头像

sorina1 年前

cute

Navkuran Ghuman 的头像

Navkuran Ghuman1 年前

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.

Zhongyu Li 的头像

Zhongyu Li1 年前

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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