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"

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Title
Domain Randomization for Robust, Affordable and Effective Closed-loop Control of Soft Robots Gabriele Tiboni Andrea Protopapa Tatiana Tommasi Giuseppe Averta 22 5 0 07 Mar 2023
Learning Bipedal Walking for Humanoids with Current Feedback R. P. Singh Zhaoming Xie P. Gergondet F. Kanehiro 31 29 0 07 Mar 2023
Real-World Humanoid Locomotion with Reinforcement Learning Ilija Radosavovic Tete Xiao Bike Zhang Trevor Darrell Jitendra Malik Koushil Sreenath 34 125 0 06 Mar 2023
Reinforcement Learning Based Pushing and Grasping Objects from Ungraspable Poses Hao Zhang Hongzhuo Liang Lin Cong Jianzhi Lyu Long Zeng Pingfa Feng Jian-Wei Zhang SSL DRL 34 9 0 26 Feb 2023
Multi-embodiment Legged Robot Control as a Sequence Modeling Problem Chenyi Yu Weinan Zhang H. Lai Zheng Tian L. Kneip Jun Wang 38 15 0 18 Dec 2022
Sim-to-Real Transfer for Quadrupedal Locomotion via Terrain Transformer Hang Lai Weinan Zhang Xialin He Chen Yu Zheng Tian Yong Yu Jun Wang 31 20 0 15 Dec 2022
Learning Representations that Enable Generalization in Assistive Tasks Jerry Zhi-Yang He Aditi Raghunathan Daniel S. Brown Zackory M. Erickson Anca Dragan OOD 41 20 0 05 Dec 2022
Legged Locomotion in Challenging Terrains using Egocentric Vision Ananye Agarwal Ashish Kumar Jitendra Malik Deepak Pathak 36 207 0 14 Nov 2022
Optimal Behavior Prior: Data-Efficient Human Models for Improved Human-AI Collaboration Mesut Yang Micah Carroll Anca Dragan 44 13 0 03 Nov 2022
Learning Modular Robot Locomotion from Demonstrations Julian Whitman Howie Choset 36 1 0 31 Oct 2022
Learning Modular Robot Visual-motor Locomotion Policies Julian Whitman Howie Choset 28 1 0 31 Oct 2022
Atlas: Automate Online Service Configuration in Network Slicing Qiang Liu Nakjung Choi Tao Han 20 7 0 30 Oct 2022
The Role of Time Delay in Sim2real Transfer of Reinforcement Learning for Cyber-Physical Systems Mohamad Chehadeh I. Boiko Yahya Zweiri 44 1 0 30 Sep 2022
Backward Reachability Analysis of Neural Feedback Loops: Techniques for Linear and Nonlinear Systems Nicholas Rober Sydney M. Katz Chelsea Sidrane Esen Yel Michael Everett Mykel J. Kochenderfer Jonathan P. How 40 26 0 28 Sep 2022
Trustworthy Reinforcement Learning Against Intrinsic Vulnerabilities: Robustness, Safety, and Generalizability Mengdi Xu Zuxin Liu Peide Huang Wenhao Ding Zhepeng Cen Yue Liu Ding Zhao 79 46 0 16 Sep 2022
GenLoco: Generalized Locomotion Controllers for Quadrupedal Robots Gilbert Feng Hongbo Zhang Zhongyu Li Xue Bin Peng Bhuvan Basireddy ... Zhitao Song Lizhi Yang Yunhui Liu Koushil Sreenath Sergey Levine 100 60 0 12 Sep 2022
Neural Approaches to Co-Optimization in Robotics Charles B. Schaff 39 1 0 01 Sep 2022
Monocular Camera-based Complex Obstacle Avoidance via Efficient Deep Reinforcement Learning Jianchuan Ding Lingping Gao Wenxi Liu Haiyin Piao Jia Pan Z. Du Xin Yang Baocai Yin 22 12 0 01 Sep 2022
Sim-to-Real Transfer of Robotic Assembly with Visual Inputs Using CycleGAN and Force Control C. Yuan Yunlei Shi Qian Feng Chunyang Chang Zhaopeng Chen Alois C. Knoll Jianwei Zhang 34 8 0 30 Aug 2022
Rethinking Sim2Real: Lower Fidelity Simulation Leads to Higher Sim2Real Transfer in Navigation Joanne Truong M. Rudolph Naoki Yokoyama Sonia Chernova Dhruv Batra Akshara Rai 31 40 0 21 Jul 2022
Dynamic Bipedal Maneuvers through Sim-to-Real Reinforcement Learning Fangzhou Yu Ryan Batke Jeremy Dao J. Hurst Kevin R. Green Alan Fern 32 10 0 16 Jul 2022
Domain Adapting Deep Reinforcement Learning for Real-world Speech Emotion Recognition Thejan Rajapakshe R. Rana Sara Khalifa Bjorn W. Schuller 26 0 0 07 Jul 2022
A Survey on Model-based Reinforcement Learning Fan Luo Tian Xu Hang Lai Xiong-Hui Chen Weinan Zhang Yang Yu OffRL LRM 56 101 0 19 Jun 2022
Neural Scene Representation for Locomotion on Structured Terrain David Hoeller Nikita Rudin Chris Choy Anima Anandkumar Marco Hutter 40 32 0 16 Jun 2022
Analysis of Randomization Effects on Sim2Real Transfer in Reinforcement Learning for Robotic Manipulation Tasks Josip Josifovski M. Malmir Noah Klarmann B. L. Žagar Nicolás Navarro-Guerrero Alois C. Knoll 33 17 0 13 Jun 2022
Near-Optimal Sample Complexity Bounds for Constrained MDPs Sharan Vaswani Lin F. Yang Csaba Szepesvári 40 32 0 13 Jun 2022
Learning to Use Chopsticks in Diverse Gripping Styles Zeshi Yang KangKang Yin Libin Liu 37 29 0 28 May 2022
Rapid Locomotion via Reinforcement Learning G. Margolis Ge Yang Kartik Paigwar Tao Chen Pulkit Agrawal 49 230 0 05 May 2022
Human Motion Control of Quadrupedal Robots using Deep Reinforcement Learning Sunwoo Kim Maks Sorokin Jehee Lee Sehoon Ha 38 14 0 28 Apr 2022
Sim-to-Real Learning for Bipedal Locomotion Under Unsensed Dynamic Loads Jeremy Dao Kevin R. Green Helei Duan Alan Fern J. Hurst 21 30 0 09 Apr 2022
Imitate and Repurpose: Learning Reusable Robot Movement Skills From Human and Animal Behaviors Steven Bohez S. Tunyasuvunakool Philemon Brakel Fereshteh Sadeghi Leonard Hasenclever ... Nathan Batchelor Federico Casarini J. Merel R. Hadsell N. Heess 43 51 0 31 Mar 2022
Factored Adaptation for Non-Stationary Reinforcement Learning Fan Feng Erdun Gao Kun Zhang Sara Magliacane CML OffRL 52 32 0 30 Mar 2022
Adversarial Motion Priors Make Good Substitutes for Complex Reward Functions Alejandro Escontrela Xue Bin Peng Wenhao Yu Tingnan Zhang Atil Iscen Ken Goldberg Pieter Abbeel 20 113 0 28 Mar 2022
Learning for Robot Decision Making under Distribution Shift: A Survey Abhishek Paudel OOD OffRL 48 5 0 14 Mar 2022
Cloud-Edge Training Architecture for Sim-to-Real Deep Reinforcement Learning Hongpeng Cao Mirco Theile Federico G. Wyrwal Marco Caccamo 48 7 0 04 Mar 2022
A Benchmark Comparison of Learned Control Policies for Agile Quadrotor Flight Elia Kaufmann L. Bauersfeld Davide Scaramuzza 46 70 0 22 Feb 2022
Soft Robots Learn to Crawl: Jointly Optimizing Design and Control with Sim-to-Real Transfer Charles B. Schaff Audrey Sedal Matthew R. Walter 32 26 0 09 Feb 2022
The need for and feasibility of alternative ground robots to traverse sandy and rocky extraterrestrial terrain Chen Li K. Lewis 30 12 0 28 Jan 2022
Learning robust perceptive locomotion for quadrupedal robots in the wild Takahiro Miki Joonho Lee Jemin Hwangbo Lorenz Wellhausen V. Koltun Marco Hutter 39 689 0 20 Jan 2022
ValueNetQP: Learned one-step optimal control for legged locomotion Julian Viereck Avadesh Meduri Ludovic Righetti 19 8 0 11 Jan 2022
Automated Reinforcement Learning (AutoRL): A Survey and Open Problems Jack Parker-Holder Raghunandan Rajan Xingyou Song André Biedenkapp Yingjie Miao ... Vu-Linh Nguyen Roberto Calandra Aleksandra Faust Frank Hutter Marius Lindauer AI4CE 38 102 0 11 Jan 2022
Combining Learning-based Locomotion Policy with Model-based Manipulation for Legged Mobile Manipulators Yuntao Ma Farbod Farshidian Takahiro Miki Joonho Lee Marco Hutter 34 69 0 11 Jan 2022
Maximum Entropy Population-Based Training for Zero-Shot Human-AI Coordination Rui Zhao Jinming Song Yufeng Yuan Haifeng Hu Yang Gao Yi Wu Zhongqian Sun Yang Wei 34 63 0 22 Dec 2021
Learning multiple gaits of quadruped robot using hierarchical reinforcement learning Yunho Kim Bukun Son Dongjun Lee 38 8 0 09 Dec 2021
Coupling Vision and Proprioception for Navigation of Legged Robots Zipeng Fu Ashish Kumar Ananye Agarwal Haozhi Qi Jitendra Malik Deepak Pathak 21 74 0 03 Dec 2021
An in-depth experimental study of sensor usage and visual reasoning of robots navigating in real environments Assem Sadek G. Bono Boris Chidlovskii Christian Wolf 26 10 0 29 Nov 2021
Validate on Sim, Detect on Real -- Model Selection for Domain Randomization Gal Leibovich Guy Jacob Shadi Endrawis Gal Novik Aviv Tamar 30 7 0 01 Nov 2021
Learning to Jump from Pixels G. Margolis Tao Chen Kartik Paigwar Xiang Fu Donghyun Kim Sangbae Kim Pulkit Agrawal 62 82 0 28 Oct 2021
Minimizing Energy Consumption Leads to the Emergence of Gaits in Legged Robots Zipeng Fu Ashish Kumar Jitendra Malik Deepak Pathak 22 115 0 25 Oct 2021
Legged Robots that Keep on Learning: Fine-Tuning Locomotion Policies in the Real World Laura M. Smith J. Kew Xue Bin Peng Sehoon Ha Jie Tan Sergey Levine 38 102 0 11 Oct 2021