Sim-to-Real: Learning Agile Locomotion For Quadruped Robots

27 April 2018

Jie Tan

Tingnan Zhang

Papers citing "Sim-to-Real: Learning Agile Locomotion For Quadruped Robots"

50 / 199 papers shown

Title
Learning Impact-Rich Rotational Maneuvers via Centroidal Velocity Rewards and Sim-to-Real Techniques: A One-Leg Hopper Flip Case Study Dongyun Kang Gijeong Kim JongHun Choe Hajun Kim Hae-Won Park 28 1 0 18 May 2025
High-Performance Reinforcement Learning on Spot: Optimizing Simulation Parameters with Distributional Measures A. J Miller Fangzhou Yu Michael Brauckmann Farbod Farshidian OffRL BDL 32 0 0 24 Apr 2025
Sim-to-Real of Humanoid Locomotion Policies via Joint Torque Space Perturbation Injection Woohyun Cha Junhyeok Cha Jaeyong Shin Donghyeon Kim Jaeheung Park 41 0 0 09 Apr 2025
Learning Bipedal Locomotion on Gear-Driven Humanoid Robot Using Foot-Mounted IMUs Sotaro Katayama Yuta Koda Norio Nagatsuka Masaya Kinoshita 60 0 0 01 Apr 2025
TokenHSI: Unified Synthesis of Physical Human-Scene Interactions through Task Tokenization Liang Pan Zeshi Yang Zhiyang Dou Wenjia Wang Buzhen Huang Bo Dai Taku Komura Jingbo Wang 60 2 0 25 Mar 2025
Masked Sensory-Temporal Attention for Sensor Generalization in Quadruped Locomotion Dikai Liu Tianwei Zhang Jianxiong Yin Simon See 92 1 0 13 Mar 2025
Multi-Robot Collaboration through Reinforcement Learning and Abstract Simulation Adam Labiosa Josiah P. Hanna 59 0 0 07 Mar 2025
Robotic Table Tennis: A Case Study into a High Speed Learning System David B. DÁmbrosio Jonathan Abelian Saminda Abeyruwan Michael Ahn Alex Bewley ... Vikas Sindhwani Avi Singh Vincent Vanhoucke Grace Vesom Peng Xu 60 14 0 20 Feb 2025
Hovering Flight of Soft-Actuated Insect-Scale Micro Aerial Vehicles using Deep Reinforcement Learning Y. Hsiao Wei-Tung Chen Yun-Sheng Chang Pulkit Agrawal Yufeng Chen 83 0 0 17 Feb 2025
Bridging the Sim-to-Real Gap for Athletic Loco-Manipulation Nolan Fey G. Margolis Martin Peticco Pulkit Agrawal 57 4 0 15 Feb 2025
A Real-to-Sim-to-Real Approach to Robotic Manipulation with VLM-Generated Iterative Keypoint Rewards Shivansh Patel Xinchen Yin Wenlong Huang Shubham Garg H. Nayyeri Li Fei-Fei Svetlana Lazebnik Yongqian Li 95 0 0 12 Feb 2025
ASAP: Aligning Simulation and Real-World Physics for Learning Agile Humanoid Whole-Body Skills Tairan He J. Gao Wenli Xiao Yujie Zhang Zi Wang ... Jessica Hodgins Linxi Fan Yuke Zhu Changliu Liu Guanya Shi 84 11 0 03 Feb 2025
ToddlerBot: Open-Source ML-Compatible Humanoid Platform for Loco-Manipulation Haochen Shi Weizhuo Wang Shuran Song Chenxi Liu 53 3 0 02 Feb 2025
Vid2Sim: Realistic and Interactive Simulation from Video for Urban Navigation Ziyang Xie Zhizheng Liu Zhenghao Peng Wayne Wu Bolei Zhou VGen 64 3 0 12 Jan 2025
Design and Control of a Bipedal Robotic Character Ruben Grandia Espen Knoop Michael A. Hopkins Georg Wiedebach Jared Bishop Steven Pickles David Müller Moritz Bächer 55 12 0 10 Jan 2025
SERN: Simulation-Enhanced Realistic Navigation for Multi-Agent Robotic Systems in Contested Environments Jumman Hossain Emon Dey Snehalraj Chugh Masud Ahmed MS Anwar ... Adrienne Raglin Carl E. Busart T. Gregory Anuradha Ravi Nirmalya Roy 33 0 0 22 Oct 2024
AnyBipe: An End-to-End Framework for Training and Deploying Bipedal Robots Guided by Large Language Models Yifei Yao Wentao He Chenyu Gu Jiaheng Du Fuwei Tan Zhen Zhu Junguo Lu OffRL 36 2 0 13 Sep 2024
CARDinality: Interactive Card-shaped Robots with Locomotion and Haptics using Vibration Aditya Retnanto Emilie Faracci Anup Sathya Yukai Hung Ken Nakagaki 28 4 0 08 Sep 2024
Simplex-enabled Safe Continual Learning Machine H. Cao Y. Mao Yihao Cai L. Sha Marco Caccamo 44 3 0 05 Sep 2024
FORGE: Force-Guided Exploration for Robust Contact-Rich Manipulation under Uncertainty Michael Noseworthy Bingjie Tang Bowen Wen Ankur Handa Nicholas Roy Nicholas Roy Dieter Fox Yashraj S. Narang Iretiayo Akinola Iretiayo Akinola 64 9 0 08 Aug 2024
ReALFRED: An Embodied Instruction Following Benchmark in Photo-Realistic Environments Taewoong Kim Cheolhong Min Byeonghwi Kim Jinyeon Kim Wonje Jeung Jonghyun Choi LM&Ro 46 5 0 26 Jul 2024
EAGERx: Graph-Based Framework for Sim2real Robot Learning B. V. D. Heijden Jelle Luijkx Laura Ferranti Jens Kober Robert Babuška 44 0 0 05 Jul 2024
DextrAH-G: Pixels-to-Action Dexterous Arm-Hand Grasping with Geometric Fabrics Tyler Ga Wei Lum Martin Matak Viktor Makoviychuk Ankur Handa Arthur Allshire Tucker Hermans Nathan D. Ratliff Karl Van Wyk 51 14 0 02 Jul 2024
The Overcooked Generalisation Challenge Constantin Ruhdorfer Matteo Bortoletto Anna Penzkofer Andreas Bulling 51 4 0 25 Jun 2024
Gaussian Splatting to Real World Flight Navigation Transfer with Liquid Networks Alex Quach Makram Chahine Alexander Amini Ramin Hasani Daniela Rus 3DGS 46 8 0 21 Jun 2024
Explicit Lipschitz Value Estimation Enhances Policy Robustness Against Perturbation Xulin Chen Ruipeng Liu Garret E. Katz 49 0 0 22 Apr 2024
Humanoid-Gym: Reinforcement Learning for Humanoid Robot with Zero-Shot Sim2Real Transfer Xinyang Gu Yen-Jen Wang Jianyu Chen 49 35 0 08 Apr 2024
Robust Control using Control Lyapunov Function and Hamilton-Jacobi Reachability Chun-Ming Yang Pranav A. Bhounsule 30 1 0 08 Apr 2024
Learning Quadrupedal Locomotion with Impaired Joints Using Random Joint Masking Mincheol Kim Ukcheol Shin Jung-Yup Kim 33 0 0 01 Mar 2024
FLD: Fourier Latent Dynamics for Structured Motion Representation and Learning Chenhao Li Elijah Stanger-Jones Steve Heim Sangbae Kim 50 10 0 21 Feb 2024
Learning to navigate efficiently and precisely in real environments G. Bono Hervé Poirier L. Antsfeld G. Monaci Boris Chidlovskii Christian Wolf 31 2 0 25 Jan 2024
Multi-Object Navigation in real environments using hybrid policies Assem Sadek G. Bono Boris Chidlovskii A. Baskurt Christian Wolf 52 5 0 24 Jan 2024
Adaptive Control Strategy for Quadruped Robots in Actuator Degradation Scenarios Xinyuan Wu Wentao Dong Hang Lai Yong Yu Ying Wen 34 2 0 29 Dec 2023
Astrocyte Regulated Neuromorphic Central Pattern Generator Control of Legged Robotic Locomotion Zhuangyu Han Abhronil Sengupta 35 2 0 25 Dec 2023
Hybrid Internal Model: Learning Agile Legged Locomotion with Simulated Robot Response Junfeng Long Zirui Wang Quanyi Li Jiawei Gao Liu Cao Jiangmiao Pang 70 26 0 18 Dec 2023
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 30 20 0 06 Dec 2023
Pay Attention to How You Drive: Safe and Adaptive Model-Based Reinforcement Learning for Off-Road Driving Sean J. Wang Honghao Zhu Aaron M. Johnson 34 6 0 12 Oct 2023
Words into Action: Learning Diverse Humanoid Robot Behaviors using Language Guided Iterative Motion Refinement K. N. Kumar Irfan Essa Sehoon Ha 37 6 0 10 Oct 2023
An Open-Loop Baseline for Reinforcement Learning Locomotion Tasks Antonin Raffin Olivier Sigaud Jens Kober Alin Albu-Schäffer João Silvério F. Stulp 42 2 0 09 Oct 2023
Learning Risk-Aware Quadrupedal Locomotion using Distributional Reinforcement Learning Lukas Schneider Jonas Frey Takahiro Miki Marco Hutter 37 9 0 25 Sep 2023
Seeing-Eye Quadruped Navigation with Force Responsive Locomotion Control David DeFazio Eisuke Hirota Shiqi Zhang 36 7 0 08 Sep 2023
Decomposing the Generalization Gap in Imitation Learning for Visual Robotic Manipulation Annie Xie Lisa Lee Ted Xiao Chelsea Finn 30 55 0 07 Jul 2023
Sim-to-real transfer of active suspension control using deep reinforcement learning Viktor Wiberg Erik Wallin Arvid Fälldin Tobias Semberg Morgan Rossander E. Wadbro Martin Servin 41 7 0 19 Jun 2023
DiAReL: Reinforcement Learning with Disturbance Awareness for Robust Sim2Real Policy Transfer in Robot Control M. Malmir Josip Josifovski Noah Klarmann Alois C. Knoll 44 2 0 15 Jun 2023
Barkour: Benchmarking Animal-level Agility with Quadruped Robots Ken Caluwaerts Atil Iscen J. Kew Wenhao Yu Tingnan Zhang ... J. Seto Carolina Parada Vikas Sindhwani Vincent Vanhoucke Jie Tan 27 60 0 24 May 2023
Reducing the Cost of Cycle-Time Tuning for Real-World Policy Optimization Homayoon Farrahi Rupam Mahmood 34 5 0 09 May 2023
Continuous Versatile Jumping Using Learned Action Residuals Yuxiang Yang Xiang Meng Wenhao Yu Tingnan Zhang Jie Tan Byron Boots 47 11 0 17 Apr 2023
Contact Models in Robotics: a Comparative Analysis Quentin Le Lidec Wilson Jallet Louis Montaut Ivan Laptev Cordelia Schmid Justin Carpentier 37 29 0 13 Apr 2023
Neural Volumetric Memory for Visual Locomotion Control Ruihan Yang Ge Yang Xiaolong Wang 33 53 0 03 Apr 2023
DribbleBot: Dynamic Legged Manipulation in the Wild Yandong Ji G. Margolis Pulkit Agrawal 42 56 0 03 Apr 2023