Learning Visual Quadrupedal Loco-Manipulation from Demonstrations

no code implementations • 29 Mar 2024 • Zhengmao He, Kun Lei, Yanjie Ze, Koushil Sreenath, Zhongyu Li, Huazhe Xu

Our approach is validated through simulations and real-world experiments, demonstrating the robot's ability to perform tasks that demand mobility and high precision, such as lifting a basket from the ground while moving, closing a dishwasher, pressing a button, and pushing a door.

Reinforcement Learning (RL)

Uni-O4: Unifying Online and Offline Deep Reinforcement Learning with Multi-Step On-Policy Optimization

no code implementations • 6 Nov 2023 • Kun Lei, Zhengmao He, Chenhao Lu, Kaizhe Hu, Yang Gao, Huazhe Xu

Owning to the alignment of objectives in two phases, the RL agent can transfer between offline and online learning seamlessly.

Reinforcement Learning (RL)

ArrayBot: Reinforcement Learning for Generalizable Distributed Manipulation through Touch

no code implementations • 29 Jun 2023 • Zhengrong Xue, Han Zhang, Jingwen Cheng, Zhengmao He, Yuanchen Ju, Changyi Lin, Gu Zhang, Huazhe Xu

We present ArrayBot, a distributed manipulation system consisting of a $16 \times 16$ array of vertically sliding pillars integrated with tactile sensors, which can simultaneously support, perceive, and manipulate the tabletop objects.

reinforcement-learning Reinforcement Learning (RL)