Qingchen Liu

From Policy Actions to Whole-Body Dynamics: A Unified Projection-Based Framework for Versatile Legged Loco-Manipulation

Learning-based locomotion policies are widely adopted for legged robots but face integration challenges with model-based whole-body optimization for loco-manipulation, as they output joint-space commands instead of dynamics-level variables that enable explicit enforcement of rigid-body dynamics and contact objectives....

Incremental reinforcement learning for safe optimal control of unknown nonlinear systems