Chang-Da Tian

Sim-to-Real Reinforcement Learning for Ball-Balancing Locomotion on Quadruped Robots

Non-prehensile manipulation of freely moving objects on a mobile base represents a significant challenge in underactuated robotics. This paper presents a sim-to-real reinforcement learning pipeline for a Unitree Go2 robot tasked with balancing a free-rolling ping-pong ball on a board mounted on its trunk while maintain...