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 / 200 papers shown

Title
Understanding Domain Randomization for Sim-to-real Transfer Xiaoyu Chen Jiachen Hu Chi Jin Lihong Li Liwei Wang 24 112 0 07 Oct 2021
Neural Network Verification in Control M. Everett AAML 37 16 0 30 Sep 2021
Lyapunov-stable neural-network control Hongkai Dai Benoit Landry Lujie Yang Marco Pavone Russ Tedrake 26 120 0 29 Sep 2021
Deep Reinforcement Learning Versus Evolution Strategies: A Comparative Survey Amjad Yousef Majid Serge Saaybi Tomas van Rietbergen Vincent François-Lavet R. V. Prasad Chris Verhoeven OffRL 67 55 0 28 Sep 2021
Solving Challenging Control Problems Using Two-Staged Deep Reinforcement Learning Nitish Sontakke Sehoon Ha 35 1 0 27 Sep 2021
PM-FSM: Policies Modulating Finite State Machine for Robust Quadrupedal Locomotion Ren Liu Nitish Sontakke Sehoon Ha 42 2 0 26 Sep 2021
Probabilistic Inference of Simulation Parameters via Parallel Differentiable Simulation Eric Heiden Chris Denniston David Millard Fabio Ramos Gaurav Sukhatme 29 21 0 18 Sep 2021
Soft Actor-Critic With Integer Actions Ting-Han Fan Yubo Wang 35 12 0 17 Sep 2021
Reinforcement Learning with Evolutionary Trajectory Generator: A General Approach for Quadrupedal Locomotion Hao-bin Shi Bo Zhou Hongsheng Zeng Fan Wang Yueqiang Dong Jiangyong Li Kang Wang Hao Tian Max Meng 50 50 0 14 Sep 2021
Learning Vision-Guided Dynamic Locomotion Over Challenging Terrains Zhaocheng Liu Fernando Acero Zhibin Li 47 2 0 09 Sep 2021
SurRoL: An Open-source Reinforcement Learning Centered and dVRK Compatible Platform for Surgical Robot Learning Jiaqi Xu Bin Li Bo Lu Yunhui Liu Qi Dou Pheng-Ann Heng 29 74 0 30 Aug 2021
Semantic Tracklets: An Object-Centric Representation for Visual Multi-Agent Reinforcement Learning Iou-Jen Liu Zhongzheng Ren Raymond A. Yeh Alex Schwing 34 15 0 06 Aug 2021
RMA: Rapid Motor Adaptation for Legged Robots Ashish Kumar Zipeng Fu Deepak Pathak Jitendra Malik 28 553 0 08 Jul 2021
Learning Vision-Guided Quadrupedal Locomotion End-to-End with Cross-Modal Transformers Ruihan Yang Minghao Zhang Nicklas Hansen Huazhe Xu Xiaolong Wang OffRL 23 102 0 08 Jul 2021
Learning to See before Learning to Act: Visual Pre-training for Manipulation Yen-Chen Lin Andy Zeng Shuran Song Phillip Isola Nayeon Lee SSL 19 87 0 01 Jul 2021
Cat-like Jumping and Landing of Legged Robots in Low-gravity Using Deep Reinforcement Learning Nikita Rudin H. Kolvenbach Vassilios Tsounis Marco Hutter 39 84 0 17 Jun 2021
Learning from Demonstration without Demonstrations Tom Blau Gilad Francis Philippe Morere OffRL 27 1 0 17 Jun 2021
DeepWalk: Omnidirectional Bipedal Gait by Deep Reinforcement Learning Diego Rodriguez Sven Behnke 30 47 0 01 Jun 2021
Teaching Continuity in Robotics Labs in the Age of Covid and Beyond R Pito Salas 27 0 0 18 May 2021
GLiDE: Generalizable Quadrupedal Locomotion in Diverse Environments with a Centroidal Model Zhaoming Xie Xingye Da Buck Babich Animesh Garg M. van de Panne 29 66 0 20 Apr 2021
Auto-Tuned Sim-to-Real Transfer Yuqing Du Olivia Watkins Trevor Darrell Pieter Abbeel Deepak Pathak 27 69 0 15 Apr 2021
GEM: Group Enhanced Model for Learning Dynamical Control Systems Philippe Hansen-Estruch Wenling Shang Lerrel Pinto Pieter Abbeel Stas Tiomkin AI4CE 38 2 0 07 Apr 2021
Causal Reasoning in Simulation for Structure and Transfer Learning of Robot Manipulation Policies Timothy E. Lee Jialiang Zhao A. Sawhney Siddharth Girdhar Oliver Kroemer CML 37 32 0 31 Mar 2021
Robust High-speed Running for Quadruped Robots via Deep Reinforcement Learning Guillaume Bellegarda Yiyu Chen Zhuochen Liu Quan Nguyen 39 44 0 11 Mar 2021
Latent Imagination Facilitates Zero-Shot Transfer in Autonomous Racing Axel Brunnbauer Luigi Berducci Andreas Brandstätter Mathias Lechner Ramin Hasani Daniela Rus Radu Grosu LM&Ro 43 38 0 08 Mar 2021
Learning Collision-free and Torque-limited Robot Trajectories based on Alternative Safe Behaviors Jonas C. Kiemel Torsten Kröger 19 8 0 05 Mar 2021
How to Train Your Robot with Deep Reinforcement Learning; Lessons We've Learned Julian Ibarz Jie Tan Chelsea Finn Mrinal Kalakrishnan P. Pastor Sergey Levine OffRL 20 521 0 04 Feb 2021
Meta-Reinforcement Learning for Adaptive Motor Control in Changing Robot Dynamics and Environments Timothée Anne Jack Wilkinson Zhibin Li 31 1 0 19 Jan 2021
SimGAN: Hybrid Simulator Identification for Domain Adaptation via Adversarial Reinforcement Learning Yifeng Jiang Tingnan Zhang Daniel Ho Yunfei Bai Chenxi Liu Sergey Levine Jie Tan GAN 29 54 0 15 Jan 2021
Grasp and Motion Planning for Dexterous Manipulation for the Real Robot Challenge Takuma Yoneda Charles B. Schaff Takahiro Maeda Matthew R. Walter 38 14 0 08 Jan 2021
CARLA Real Traffic Scenarios -- novel training ground and benchmark for autonomous driving B. Osinski Piotr Milos Adam Jakubowski Pawel Ziecina Michal Martyniak Christopher Galias Antonia Breuer S. Homoceanu Henryk Michalewski 27 20 0 16 Dec 2020
Multi-expert learning of adaptive legged locomotion Chuanyu Yang Kai Yuan Qiuguo Zhu Wanming Yu Zhibin Li 111 184 0 10 Dec 2020
From Pixels to Legs: Hierarchical Learning of Quadruped Locomotion Deepali Jain Atil Iscen Ken Caluwaerts 31 35 0 23 Nov 2020
MRAC-RL: A Framework for On-Line Policy Adaptation Under Parametric Model Uncertainty A. Guha Anuradha M. Annaswamy 31 12 0 20 Nov 2020
Robust Quadruped Jumping via Deep Reinforcement Learning Guillaume Bellegarda Chuong H. Nguyen Quan Nguyen 32 63 0 13 Nov 2020
Zero-Shot Terrain Generalization for Visual Locomotion Policies Alejandro Escontrela George Yu P. Xu Atil Iscen Jie Tan 11 17 0 11 Nov 2020
Dynamics Randomization Revisited:A Case Study for Quadrupedal Locomotion Zhaoming Xie Xingye Da M. van de Panne Buck Babich Animesh Garg 42 86 0 04 Nov 2020
Sim-to-Real Learning of All Common Bipedal Gaits via Periodic Reward Composition J. Siekmann Yesh Godse Alan Fern J. Hurst 21 153 0 02 Nov 2020
Learning Robot Trajectories subject to Kinematic Joint Constraints Jonas C. Kiemel Torsten Kröger 25 7 0 01 Nov 2020
Robust Quadrupedal Locomotion on Sloped Terrains: A Linear Policy Approach Kartik Paigwar L. Krishna Sashank Tirumala Naman Khetan Aditya Sagi Ashish Joglekar S. Bhatnagar A. Ghosal B. Amrutur Shishir Kolathaya 17 17 0 30 Oct 2020
Learning to be Safe: Deep RL with a Safety Critic K. Srinivasan Benjamin Eysenbach Sehoon Ha Jie Tan Chelsea Finn OffRL 38 143 0 27 Oct 2020
Dynamics and Domain Randomized Gait Modulation with Bezier Curves for Sim-to-Real Legged Locomotion Maurice Rahme Ian Abraham Matthew L. Elwin Todd D. Murphey 35 14 0 22 Oct 2020
Learning Spring Mass Locomotion: Guiding Policies with a Reduced-Order Model Kevin R. Green Yesh Godse Jeremy Dao Ross L. Hatton Alan Fern J. Hurst 20 43 0 21 Oct 2020
Learning a Contact-Adaptive Controller for Robust, Efficient Legged Locomotion Xingye Da Zhaoming Xie David Hoeller Byron Boots Anima Anandkumar Yuke Zhu Buck Babich Animesh Garg 22 57 0 21 Sep 2020
Modular Transfer Learning with Transition Mismatch Compensation for Excessive Disturbance Rejection Tianming Wang Wenjie Lu H. Yu Dikai Liu 43 1 0 29 Jul 2020
Learning Stable Manoeuvres in Quadruped Robots from Expert Demonstrations Sashank Tirumala S. Gubbi Kartik Paigwar Aditya Sagi Ashish Joglekar S. Bhatnagar A. Ghosal B. Amrutur Shishir Kolathaya 25 4 0 28 Jul 2020
Deep Reinforcement Learning amidst Lifelong Non-Stationarity Annie Xie James Harrison Chelsea Finn CLL OffRL 37 64 0 18 Jun 2020
LiDARsim: Realistic LiDAR Simulation by Leveraging the Real World S. Manivasagam Shenlong Wang K. Wong Wenyuan Zeng Mikita Sazanovich Shuhan Tan Binh Yang Wei-Chiu Ma R. Urtasun 3DPC 28 222 0 16 Jun 2020
An Ergodic Measure for Active Learning From Equilibrium Ian Abraham A. Prabhakar Todd D. Murphey 26 22 0 05 Jun 2020
TrueRMA: Learning Fast and Smooth Robot Trajectories with Recursive Midpoint Adaptations in Cartesian Space Jonas C. Kiemel Pascal Meissner Torsten Kröger 25 6 0 05 Jun 2020