Performing agile navigation with four-legged robots is a challenging task because of the
highly dynamic motions, contacts with various parts of the robot, and the limited field of view …

Dynamic locomotion in rough terrain requires accurate foot placement, collision avoidance,
and planning of the underactuated dynamics of the system. Reliably optimizing for such …

Parkour is a grand challenge for legged locomotion that requires robots to overcome various
obstacles rapidly in complex environments. Existing methods can generate either diverse …

Reinforcement learning (RL) for bipedal locomotion has recently demonstrated robust gaits
over moderate terrains using only proprioceptive sensing. However, such blind controllers …

Quadruped robots have shown remarkable mobility on various terrains through
reinforcement learning. Yet, in the presence of sparse footholds and risky terrains such as …

Neural implicit representations are drawing much attention from the robotics community
recently, as they are expressive, continuous and compact. However, city-scale continual …

Parkour poses a significant challenge for legged robots, requiring navigation through
complex environments with agility and precision based on limited sensory inputs. In this …

Autonomous navigation in unstructured vegetated environments remains an open
challenge. To successfully operate in these settings, autonomous ground vehicles (AGVs) …

Humanoid robots possess the ability to perform complex tasks in challenging environments.
However, they require a model of the surroundings in a representation that is sufficient …

Recent years have seen a steady rise in the abilities of wheeled-legged balancing robots.
Yet, their use is still severely restricted by the lack of efficient control algorithms for …