Humanoid-Gym: Reinforcement Learning for Humanoid Robot with Zero-Shot Sim2Real Transfer

no code implementations • 8 Apr 2024 • Xinyang Gu, Yen-Jen Wang, Jianyu Chen

Humanoid-Gym is an easy-to-use reinforcement learning (RL) framework based on Nvidia Isaac Gym, designed to train locomotion skills for humanoid robots, emphasizing zero-shot transfer from simulation to the real-world environment.

Physical Simulations Reinforcement Learning (RL)

Prompt a Robot to Walk with Large Language Models

1 code implementation • 18 Sep 2023 • Yen-Jen Wang, Bike Zhang, Jianyu Chen, Koushil Sreenath

Large language models (LLMs) pre-trained on vast internet-scale data have showcased remarkable capabilities across diverse domains.

DoReMi: Grounding Language Model by Detecting and Recovering from Plan-Execution Misalignment

no code implementations • 1 Jul 2023 • Yanjiang Guo, Yen-Jen Wang, Lihan Zha, Zheyuan Jiang, Jianyu Chen

Large language models (LLMs) encode a vast amount of semantic knowledge and possess remarkable understanding and reasoning capabilities.

Language Modelling Question Answering +1

Decentralized Motor Skill Learning for Complex Robotic Systems

no code implementations • 30 Jun 2023 • Yanjiang Guo, Zheyuan Jiang, Yen-Jen Wang, Jingyue Gao, Jianyu Chen

Experiments on quadruped and humanoid robots demonstrate that the learned policy is robust against local motor malfunctions and can be transferred to new tasks.

Reinforcement Learning (RL)