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Learning Locomotion Skills Using DeepRL: Does the Choice of Action Space
  Matter?

Learning Locomotion Skills Using DeepRL: Does the Choice of Action Space Matter?

3 November 2016
Xue Bin Peng
M. van de Panne
ArXiv (abs)PDFHTML

Papers citing "Learning Locomotion Skills Using DeepRL: Does the Choice of Action Space Matter?"

50 / 97 papers shown
Sim-to-Real Transfer in Deep Reinforcement Learning for Bipedal Locomotion
Sim-to-Real Transfer in Deep Reinforcement Learning for Bipedal Locomotion
Lingfan Bao
Tianhu Peng
Chengxu Zhou
103
0
0
09 Nov 2025
Optimizing Bipedal Locomotion for The 100m Dash With Comparison to Human Running
Optimizing Bipedal Locomotion for The 100m Dash With Comparison to Human RunningIEEE International Conference on Robotics and Automation (ICRA), 2023
Devin Crowley
Jeremy Dao
Helei Duan
Kevin R. Green
J. Hurst
Alan Fern
113
30
0
05 Aug 2025
Guided Reinforcement Learning for Omnidirectional 3D Jumping in Quadruped Robots
Guided Reinforcement Learning for Omnidirectional 3D Jumping in Quadruped Robots
Riccardo Bussola
Michele Focchi
Giulio Turrisi
Claudio Semini
Luigi Palopoli
270
2
0
22 Jul 2025
Modular Robot Control with Motor Primitives
Modular Robot Control with Motor Primitives
Moses C. Nah
Johannes Lachner
Neville Hogan
315
2
0
15 May 2025
A General Approach of Automated Environment Design for Learning the Optimal Power Flow
A General Approach of Automated Environment Design for Learning the Optimal Power FlowEnergy-Efficient Computing and Networking (ECN), 2025
Thomas Wolgast
Astrid Nieße
AI4CE
191
0
0
01 May 2025
Learning Quiet Walking for a Small Home Robot
Learning Quiet Walking for a Small Home RobotIEEE International Conference on Robotics and Automation (ICRA), 2025
Ryo Watanabe
Takahiro Miki
Fan Shi
Yuki Kadokawa
Filip Bjelonic
Kento Kawaharazuka
Andrei Cramariuc
Marco Hutter
389
4
0
16 Feb 2025
HUMOS: Human Motion Model Conditioned on Body Shape
HUMOS: Human Motion Model Conditioned on Body ShapeEuropean Conference on Computer Vision (ECCV), 2024
Shashank Tripathi
Omid Taheri
Christoph Lassner
Michael J. Black
Daniel Holden
Carsten Stoll
3DHDiffM
512
14
0
05 Sep 2024
Automatic Environment Shaping is the Next Frontier in RL
Automatic Environment Shaping is the Next Frontier in RL
Younghyo Park
G. Margolis
Pulkit Agrawal
OffRL
316
4
0
23 Jul 2024
Exciting Action: Investigating Efficient Exploration for Learning
  Musculoskeletal Humanoid Locomotion
Exciting Action: Investigating Efficient Exploration for Learning Musculoskeletal Humanoid Locomotion
Henri-Jacques Geiss
Firas Al-Hafez
Andre Seyfarth
Jan Peters
Davide Tateo
228
4
0
16 Jul 2024
Residual-MPPI: Online Policy Customization for Continuous Control
Residual-MPPI: Online Policy Customization for Continuous Control
Pengcheng Wang
Chenran Li
Catherine Weaver
Kenta Kawamoto
Masayoshi Tomizuka
Chen Tang
Wei Zhan
OffRL
510
6
0
01 Jul 2024
Learning-based legged locomotion; state of the art and future
  perspectives
Learning-based legged locomotion; state of the art and future perspectives
Sehoon Ha
Joonho Lee
M. van de Panne
Zhaoming Xie
Wenhao Yu
Majid Khadiv
324
24
0
03 Jun 2024
Deep Dive into Model-free Reinforcement Learning for Biological and
  Robotic Systems: Theory and Practice
Deep Dive into Model-free Reinforcement Learning for Biological and Robotic Systems: Theory and Practice
Yusheng Jiao
Feng Ling
Sina Heydari
N. Heess
J. Merel
Eva Kanso
236
3
0
19 May 2024
Deep Reinforcement Learning for Bipedal Locomotion: A Brief Survey
Deep Reinforcement Learning for Bipedal Locomotion: A Brief Survey
Lingfan Bao
Josephine N. Humphreys
Tianhu Peng
Chengxu Zhou
499
11
0
25 Apr 2024
Learning the Optimal Power Flow: Environment Design Matters
Learning the Optimal Power Flow: Environment Design Matters
Thomas Wolgast
Astrid Nieße
AI4CE
158
11
0
26 Mar 2024
Learning Highly Dynamic Behaviors for Quadrupedal Robots
Learning Highly Dynamic Behaviors for Quadrupedal Robots
Chong Zhang
Jiapeng Sheng
Tingguang Li
He Zhang
Cheng Zhou
Qing Zhu
Rui Zhao
Yizheng Zhang
Lei Han
192
7
0
21 Feb 2024
Learning to Control Emulated Muscles in Real Robots: Towards Exploiting
  Bio-Inspired Actuator Morphology
Learning to Control Emulated Muscles in Real Robots: Towards Exploiting Bio-Inspired Actuator Morphology
Pierre Schumacher
Lorenz Krause
Jan Schneider-Barnes
Le Chen
Georg Martius
Daniel Haeufle
219
0
0
08 Feb 2024
MuscleVAE: Model-Based Controllers of Muscle-Actuated Characters
MuscleVAE: Model-Based Controllers of Muscle-Actuated CharactersACM SIGGRAPH Conference and Exhibition on Computer Graphics and Interactive Techniques in Asia (SIGGRAPH Asia), 2023
Yusen Feng
Xiyan Xu
Libin Liu
210
24
0
12 Dec 2023
On the Role of the Action Space in Robot Manipulation Learning and
  Sim-to-Real Transfer
On the Role of the Action Space in Robot Manipulation Learning and Sim-to-Real Transfer
Elie Aljalbout
Felix Frank
Maximilian Karl
Patrick van der Smagt
292
27
0
06 Dec 2023
Efficient Reinforcement Learning for Jumping Monopods
Efficient Reinforcement Learning for Jumping MonopodsItalian National Conference on Sensors (INS), 2023
Riccardo Bussola
Michele Focchi
Andrea Del Prete
Daniele Fontanelli
Luigi Palopoli
394
7
0
13 Sep 2023
A Real-World Quadrupedal Locomotion Benchmark for Offline Reinforcement
  Learning
A Real-World Quadrupedal Locomotion Benchmark for Offline Reinforcement LearningIEEE International Joint Conference on Neural Network (IJCNN), 2023
Sidney Besnard
Shuyu Yang
M. Fadili
OffRL
203
6
0
13 Sep 2023
Investigating the Impact of Action Representations in Policy Gradient
  Algorithms
Investigating the Impact of Action Representations in Policy Gradient Algorithms
Jan Schneider-Barnes
Pierre Schumacher
Daniel Haeufle
Bernhard Scholkopf
Le Chen
OffRL
166
2
0
13 Sep 2023
Lifelike Agility and Play in Quadrupedal Robots using Reinforcement
  Learning and Generative Pre-trained Models
Lifelike Agility and Play in Quadrupedal Robots using Reinforcement Learning and Generative Pre-trained Models
Lei Han
Qing Zhu
Jiapeng Sheng
Chong Zhang
Tingguang Li
...
Xiong Li
Yonghui Zhu
Lingzhu Xiang
Xiao Teng
Zhengyou Zhang
155
69
0
29 Aug 2023
Controlling the Solo12 Quadruped Robot with Deep Reinforcement Learning
Controlling the Solo12 Quadruped Robot with Deep Reinforcement LearningScientific Reports (Sci Rep), 2023
M. Aractingi
Pierre-Alexandre Léziart
He Cao
Julien Perez
Xingtai Lv
Philippe Souères
177
47
0
02 Aug 2023
Identifying Important Sensory Feedback for Learning Locomotion Skills
Identifying Important Sensory Feedback for Learning Locomotion SkillsNature Machine Intelligence (Nat. Mach. Intell.), 2023
Wanming Yu
Chuanyu Yang
C. McGreavy
Eleftherios Triantafyllidis
Guillaume Bellegarda
M. Shafiee
A. Ijspeert
Zhibin Li
213
20
0
29 Jun 2023
Graph Agent Network: Empowering Nodes with Decentralized Communications
  Capabilities for Adversarial Resilience
Graph Agent Network: Empowering Nodes with Decentralized Communications Capabilities for Adversarial ResilienceAAAI Conference on Artificial Intelligence (AAAI), 2023
Ao Liu
Wenshan Li
Tao Li
Beibei Li
Hanyuan Huang
Guangquan Xu
Pan Zhou
AAML
166
0
0
12 Jun 2023
Roll-Drop: accounting for observation noise with a single parameter
Roll-Drop: accounting for observation noise with a single parameterConference on Learning for Dynamics & Control (L4DC), 2023
Luigi Campanaro
D. Martini
Siddhant Gangapurwala
W. Merkt
Ioannis Havoutis
SyDa
207
5
0
25 Apr 2023
Torque-based Deep Reinforcement Learning for Task-and-Robot Agnostic
  Learning on Bipedal Robots Using Sim-to-Real Transfer
Torque-based Deep Reinforcement Learning for Task-and-Robot Agnostic Learning on Bipedal Robots Using Sim-to-Real TransferIEEE Robotics and Automation Letters (RA-L), 2023
Donghyeon Kim
Glen Berseth
M. Schwartz
Jaeheung Park
199
24
0
19 Apr 2023
Learning Perceptive Bipedal Locomotion over Irregular Terrain
Learning Perceptive Bipedal Locomotion over Irregular Terrain
B. V. Marum
M. Sabatelli
Hamidreza Kasaei
146
4
0
14 Apr 2023
Learning Arm-Assisted Fall Damage Reduction and Recovery for Legged
  Mobile Manipulators
Learning Arm-Assisted Fall Damage Reduction and Recovery for Legged Mobile ManipulatorsIEEE International Conference on Robotics and Automation (ICRA), 2023
Yuntao Ma
Farbod Farshidian
Marco Hutter
236
46
0
09 Mar 2023
PhysDiff: Physics-Guided Human Motion Diffusion Model
PhysDiff: Physics-Guided Human Motion Diffusion ModelIEEE International Conference on Computer Vision (ICCV), 2022
Ye Yuan
Jiaming Song
Umar Iqbal
Arash Vahdat
Jan Kautz
VGenDiffM
616
363
0
05 Dec 2022
CLAS: Coordinating Multi-Robot Manipulation with Central Latent Action
  Spaces
CLAS: Coordinating Multi-Robot Manipulation with Central Latent Action SpacesConference on Learning for Dynamics & Control (L4DC), 2022
Elie Aljalbout
Maximilian Karl
Patrick van der Smagt
169
6
0
28 Nov 2022
Learning Low-Frequency Motion Control for Robust and Dynamic Robot
  Locomotion
Learning Low-Frequency Motion Control for Robust and Dynamic Robot LocomotionIEEE International Conference on Robotics and Automation (ICRA), 2022
Siddhant Gangapurwala
Luigi Campanaro
Ioannis Havoutis
254
18
0
29 Sep 2022
Learning and Deploying Robust Locomotion Policies with Minimal Dynamics
  Randomization
Learning and Deploying Robust Locomotion Policies with Minimal Dynamics RandomizationConference on Learning for Dynamics & Control (L4DC), 2022
Luigi Campanaro
Siddhant Gangapurwala
W. Merkt
Ioannis Havoutis
185
22
0
26 Sep 2022
UnderPressure: Deep Learning for Foot Contact Detection, Ground Reaction
  Force Estimation and Footskate Cleanup
UnderPressure: Deep Learning for Foot Contact Detection, Ground Reaction Force Estimation and Footskate Cleanup
Lucas Mourot
Ludovic Hoyet
F. Clerc
Pierre Hellier
233
24
0
09 Aug 2022
Learning with Muscles: Benefits for Data-Efficiency and Robustness in
  Anthropomorphic Tasks
Learning with Muscles: Benefits for Data-Efficiency and Robustness in Anthropomorphic TasksConference on Robot Learning (CoRL), 2022
Isabell Wochner
Pierre Schumacher
Georg Martius
Le Chen
Syn Schmitt
Daniel Haeufle
260
11
0
08 Jul 2022
Co-design of Embodied Neural Intelligence via Constrained Evolution
Co-design of Embodied Neural Intelligence via Constrained Evolution
Zhiquan Wang
Bedrich Benes
A. H. Qureshi
Christos Mousas
129
4
0
21 May 2022
Factory: Fast Contact for Robotic Assembly
Factory: Fast Contact for Robotic Assembly
Yashraj S. Narang
Kier Storey
Iretiayo Akinola
Lukasz Wawrzyniak
Philipp Reist
...
Ádám Moravánszky
Gavriel State
Michelle Lu
Ankur Handa
Dieter Fox
286
98
0
07 May 2022
Learning to Get Up
Learning to Get UpInternational Conference on Computer Graphics and Interactive Techniques (SIGGRAPH), 2022
Tianxin Tao
Matthew Wilson
R. Gou
M. van de Panne
240
23
0
30 Apr 2022
Custom Sine Waves Are Enough for Imitation Learning of Bipedal Gaits
  with Different Styles
Custom Sine Waves Are Enough for Imitation Learning of Bipedal Gaits with Different Styles
Qi Wu
Chong Zhang
Yanchen Liu
169
4
0
08 Apr 2022
Sim-to-Real Transfer of Compliant Bipedal Locomotion on Torque
  Sensor-Less Gear-Driven Humanoid
Sim-to-Real Transfer of Compliant Bipedal Locomotion on Torque Sensor-Less Gear-Driven HumanoidIEEE-RAS International Conference on Humanoid Robots (Humanoids), 2022
Shimpei Masuda
K. Takahashi
219
11
0
08 Apr 2022
PoseTriplet: Co-evolving 3D Human Pose Estimation, Imitation, and
  Hallucination under Self-supervision
PoseTriplet: Co-evolving 3D Human Pose Estimation, Imitation, and Hallucination under Self-supervisionComputer Vision and Pattern Recognition (CVPR), 2022
Kehong Gong
Bingbing Li
Jianfeng Zhang
Tao Wang
Jing Huang
Michael Bi Mi
Jiashi Feng
Xinchao Wang
SSL
301
46
0
29 Mar 2022
Learning Torque Control for Quadrupedal Locomotion
Learning Torque Control for Quadrupedal LocomotionIEEE-RAS International Conference on Humanoid Robots (Humanoids), 2022
Shuxiao Chen
Bike Zhang
M. Mueller
Akshara Rai
Koushil Sreenath
248
49
0
10 Mar 2022
A Survey on Reinforcement Learning Methods in Character Animation
A Survey on Reinforcement Learning Methods in Character Animation
Ariel Kwiatkowski
Eduardo Alvarado
Vicky Kalogeiton
Chenxi Liu
Julien Pettré
M. van de Panne
Marie-Paule Cani
AI4CE
240
63
0
07 Mar 2022
Implicit Kinematic Policies: Unifying Joint and Cartesian Action Spaces
  in End-to-End Robot Learning
Implicit Kinematic Policies: Unifying Joint and Cartesian Action Spaces in End-to-End Robot LearningIEEE International Conference on Robotics and Automation (ICRA), 2022
Aditya Ganapathi
Peter R. Florence
Jacob Varley
Kaylee Burns
Ken Goldberg
Andy Zeng
324
20
0
03 Mar 2022
Multi-Modal Legged Locomotion Framework with Automated Residual
  Reinforcement Learning
Multi-Modal Legged Locomotion Framework with Automated Residual Reinforcement LearningIEEE Robotics and Automation Letters (RA-L), 2022
Chenxiao Yu
A. Rosendo
211
19
0
24 Feb 2022
A Benchmark Comparison of Learned Control Policies for Agile Quadrotor
  Flight
A Benchmark Comparison of Learned Control Policies for Agile Quadrotor FlightIEEE International Conference on Robotics and Automation (ICRA), 2022
Elia Kaufmann
L. Bauersfeld
Davide Scaramuzza
212
103
0
22 Feb 2022
Generative GaitNet
Generative GaitNetInternational Conference on Computer Graphics and Interactive Techniques (SIGGRAPH), 2022
Jungnam Park
Sehee Min
P. Chang
Jaedong Lee
M. Park
Jehee Lee
3DH
171
30
0
28 Jan 2022
Detecting danger in gridworlds using Gromov's Link Condition
Detecting danger in gridworlds using Gromov's Link Condition
Thomas F Burns
R. Tang
AI4CE
203
2
0
17 Jan 2022
OstrichRL: A Musculoskeletal Ostrich Simulation to Study Bio-mechanical
  Locomotion
OstrichRL: A Musculoskeletal Ostrich Simulation to Study Bio-mechanical Locomotion
V. Barbera
Fabio Pardo
Yuval Tassa
M. Daley
C. Richards
Petar Kormushev
J. Hutchinson
199
19
0
11 Dec 2021
Adaptive Mimic: Deep Reinforcement Learning of Parameterized Bipedal
  Walking from Infeasible References
Adaptive Mimic: Deep Reinforcement Learning of Parameterized Bipedal Walking from Infeasible References
Chong Zhang
Qi Wu
Liqian Ma
Hongyuan Su
239
0
0
07 Dec 2021
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