The Chimera is a mythological hybrid creature composed of different animal parts. The
chimera's movements are highly dependent on the spatial and temporal alignments of its …

Progress in reinforcement learning (RL) research is often driven by the design of new,
challenging environments---a costly undertaking requiring skills orthogonal to that of a …

The main challenge in developing effective reinforcement learning (RL) pipelines is often
the design and tuning the reward functions. Well-designed shaping reward can lead to …

Since the introduction of DeepMimic [Peng et al. 2018a], subsequent research has focused
on expanding the repertoire of simulated motions across various scenarios. In this study, we …

We need to look at our shoelaces as we first learn to tie them but having mastered this skill,
can do it from touch alone. We call this phenomenon" sensory scaffolding": observation …

Locomotion is one of the fundamental skills that is challenging to simulate in a manner that
generalizes across a wide range of speeds and turning capabilities. In this paper, our goal is …

Aiming to mimic the brachiation locomotion of primates, we establish a brachiation robot
model capable of swinging between different bars. The robot's design is based on a four-link …

Brachiation is a common way for primates to move between treetops. This movement has
the characteristics of adapting to complex, discontinuous environment and low energy …

Due to the inherent uncertainty in their deformability during motion, previous methods in
rope manipulation often require hundreds of real-world demonstrations to train a …

Despite great achievements of reinforcement learning based works, those methods are
known for their poor sample efficiency. This particular drawback usually means training …