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
A Distributional View on Multi-Objective Policy Optimization A. Abdolmaleki Sandy H. Huang Leonard Hasenclever Michael Neunert H. F. Song Martina Zambelli M. Martins N. Heess R. Hadsell Martin Riedmiller 26 74 0 15 May 2020
PAMTRI: Pose-Aware Multi-Task Learning for Vehicle Re-Identification Using Highly Randomized Synthetic Data Zheng Tang M. Naphade Stan Birchfield Jonathan Tremblay William Hodge Ratnesh Kumar Shuo Wang Xiaodong Yang 38 140 0 02 May 2020
First return, then explore Adrien Ecoffet Joost Huizinga Joel Lehman Kenneth O. Stanley Jeff Clune 47 352 0 27 Apr 2020
Never Stop Learning: The Effectiveness of Fine-Tuning in Robotic Reinforcement Learning Ryan Julian Benjamin Swanson Gaurav Sukhatme Sergey Levine Chelsea Finn Karol Hausman OnRL CLL 38 43 0 21 Apr 2020
RoboTHOR: An Open Simulation-to-Real Embodied AI Platform Matt Deitke Winson Han Alvaro Herrasti Aniruddha Kembhavi Eric Kolve ... Eli VanderBilt Matthew Wallingford Luca Weihs Mark Yatskar Ali Farhadi LM&Ro 42 232 0 14 Apr 2020
Thinking While Moving: Deep Reinforcement Learning with Concurrent Control Ted Xiao Eric Jang Dmitry Kalashnikov Sergey Levine Julian Ibarz Karol Hausman Alexander Herzog 25 37 0 13 Apr 2020
Learning Agile Robotic Locomotion Skills by Imitating Animals Xue Bin Peng Erwin Coumans Tingnan Zhang T. Lee Jie Tan Sergey Levine 34 499 0 02 Apr 2020
Stance Control Inspired by Cerebellum Stabilizes Reflex-Based Locomotion on HyQ Robot G. Urbain Victor Barasuol Claudio Semini J. Dambre Francis Wyffels 26 6 0 20 Mar 2020
Learning to Fly via Deep Model-Based Reinforcement Learning Philip Becker-Ehmck Maximilian Karl Jan Peters Patrick van der Smagt SSL 44 37 0 19 Mar 2020
Balance Between Efficient and Effective Learning: Dense2Sparse Reward Shaping for Robot Manipulation with Environment Uncertainty Yongle Luo Kun Dong Lili Zhao Zhiyong Sun Chao Zhou Bo Song 39 13 0 05 Mar 2020
Traversing the Reality Gap via Simulator Tuning J. Collins Ross Brown Jurgen Leitner David Howard 41 14 0 03 Mar 2020
Rapidly Adaptable Legged Robots via Evolutionary Meta-Learning Xingyou Song Yuxiang Yang K. Choromanski Ken Caluwaerts Wenbo Gao Chelsea Finn Jie Tan 116 79 0 02 Mar 2020
Learning to Walk in the Real World with Minimal Human Effort Sehoon Ha P. Xu Zhenyu Tan Sergey Levine Jie Tan 31 169 0 20 Feb 2020
Gait Library Synthesis for Quadruped Robots via Augmented Random Search Sashank Tirumala Aditya Sagi Kartik Paigwar Ashish Joglekar S. Bhatnagar A. Ghosal B. Amrutur Shishir Kolathaya 22 6 0 30 Dec 2019
Human-Robot Collaboration via Deep Reinforcement Learning of Real-World Interactions Jonas Tjomsland A. Shafti Aldo A. Faisal 24 6 0 02 Dec 2019
Multi-Vehicle Mixed-Reality Reinforcement Learning for Autonomous Multi-Lane Driving Rupert Mitchell Jenny Fletcher Jacopo Panerati Amanda Prorok 32 17 0 26 Nov 2019
DeepRacer: Educational Autonomous Racing Platform for Experimentation with Sim2Real Reinforcement Learning Bharathan Balaji S. Mallya Sahika Genc Saurabh Gupta Leo Dirac ... Yunzhe Tao Brian Townsend E. Calleja Sunil Muralidhara Dhanasekar Karuppasamy 26 56 0 05 Nov 2019
Combining Benefits from Trajectory Optimization and Deep Reinforcement Learning Guillaume Bellegarda Katie Byl OffRL 14 5 0 21 Oct 2019
Solving Rubik's Cube with a Robot Hand OpenAI Ilge Akkaya Marcin Andrychowicz Maciek Chociej Ma-teusz Litwin ... Peter Welinder Lilian Weng Qiming Yuan Wojciech Zaremba Lei Zhang ODL 42 1,210 0 16 Oct 2019
Assistive Gym: A Physics Simulation Framework for Assistive Robotics Zackory M. Erickson Vamsee Gangaram Ariel Kapusta Chenxi Liu Charles C. Kemp 33 109 0 10 Oct 2019
An Open Torque-Controlled Modular Robot Architecture for Legged Locomotion Research F. Grimminger Avadesh Meduri Majid Khadiv Julian Viereck Manuel Wüthrich ... Felix Widmaier Thomas Flayols J. Fiene Alexander Badri-Spröwitz Ludovic Righetti 17 206 0 30 Sep 2019
Learning Fast Adaptation with Meta Strategy Optimization Wenhao Yu Jie Tan Yunfei Bai Erwin Coumans Sehoon Ha 28 93 0 28 Sep 2019
Learning Generalizable Locomotion Skills with Hierarchical Reinforcement Learning Tianyu Li Nathan Lambert Roberto Calandra Franziska Meier Akshara Rai 26 40 0 26 Sep 2019
Self-driving scale car trained by Deep reinforcement learning Qi Zhang Tao Du Changzheng Tian SSL LRM 30 24 0 08 Sep 2019
qiBullet, a Bullet-based simulator for the Pepper and NAO robots Maxime Busy Maxime Caniot 18 10 0 02 Sep 2019
TuneNet: One-Shot Residual Tuning for System Identification and Sim-to-Real Robot Task Transfer Adam Allevato Elaine Schaertl Short Mitch Pryor A. Thomaz 35 53 0 25 Jul 2019
Data Efficient Reinforcement Learning for Legged Robots Yuxiang Yang Ken Caluwaerts Atil Iscen Tingnan Zhang Jie Tan Vikas Sindhwani 33 139 0 08 Jul 2019
FlightGoggles: A Modular Framework for Photorealistic Camera, Exteroceptive Sensor, and Dynamics Simulation Winter Guerra E. Tal Varun Murali Gilhyun Ryou S. Karaman 19 106 0 27 May 2019
Automated shapeshifting for function recovery in damaged robots Sam Kriegman S. Walker Dylan S. Shah Michael Levin Rebecca Kramer‐Bottiglio Josh Bongard 38 60 0 22 May 2019
Hierarchical Reinforcement Learning for Quadruped Locomotion Deepali Jain Atil Iscen Ken Caluwaerts 30 53 0 22 May 2019
Reinforcement Learning without Ground-Truth State Xingyu Lin H. Baweja David Held OffRL SSL 22 24 0 20 May 2019
From Video Game to Real Robot: The Transfer between Action Spaces Janne Karttunen Anssi Kanervisto Ville Kyrki Ville Hautamaki 25 8 0 02 May 2019
Dynamic Walking with Compliance on a Cassie Bipedal Robot Jake Reher Wen-Loong Ma Aaron D. Ames 23 60 0 25 Apr 2019
Sim-to-(Multi)-Real: Transfer of Low-Level Robust Control Policies to Multiple Quadrotors Artem Molchanov Tao Chen Wolfgang Hönig James A. Preiss Nora Ayanian Gaurav Sukhatme 24 107 0 11 Mar 2019
Adaptive Power System Emergency Control using Deep Reinforcement Learning Qiuhua Huang Renke Huang Weituo Hao Jie Tan Rui Fan Zhenyu Huang 22 270 0 09 Mar 2019
Episodic Learning with Control Lyapunov Functions for Uncertain Robotic Systems Andrew J. Taylor Victor D. Dorobantu Hoang Minh Le Yisong Yue Aaron D. Ames 117 78 0 04 Mar 2019
Sim-to-Real Transfer for Biped Locomotion Wenhao Yu Visak C. V. Kumar Greg Turk Chenxi Liu 12 114 0 04 Mar 2019
Value constrained model-free continuous control Steven Bohez A. Abdolmaleki Michael Neunert J. Buchli N. Heess R. Hadsell 24 62 0 12 Feb 2019
Robust Recovery Controller for a Quadrupedal Robot using Deep Reinforcement Learning Joonho Lee Jemin Hwangbo Marco Hutter 17 87 0 22 Jan 2019
Learning to Walk via Deep Reinforcement Learning Tuomas Haarnoja Sehoon Ha Aurick Zhou Jie Tan George Tucker Sergey Levine 54 433 0 26 Dec 2018
Mapping Navigation Instructions to Continuous Control Actions with Position-Visitation Prediction Valts Blukis Dipendra Kumar Misra Ross A. Knepper Yoav Artzi 29 82 0 10 Nov 2018
GPU-Accelerated Robotic Simulation for Distributed Reinforcement Learning Jacky Liang Viktor Makoviychuk Ankur Handa N. Chentanez Miles Macklin Dieter Fox AI4CE 27 182 0 12 Oct 2018
Policy Transfer with Strategy Optimization Wenhao Yu Chenxi Liu Greg Turk 38 80 0 12 Oct 2018
Closing the Sim-to-Real Loop: Adapting Simulation Randomization with Real World Experience Yevgen Chebotar Ankur Handa Viktor Makoviychuk Miles Macklin J. Issac Nathan D. Ratliff Dieter Fox 10 500 0 12 Oct 2018
A Data-Efficient Framework for Training and Sim-to-Real Transfer of Navigation Policies Homanga Bharadhwaj Zihan Wang Yoshua Bengio Liam Paull 26 40 0 11 Oct 2018
Unity: A General Platform for Intelligent Agents Arthur Juliani Vincent-Pierre Berges Esh Vckay Andrew Cohen Jonathan Harper ... Chris Goy Yuan Gao Hunter Henry Marwan Mattar Danny Lange 39 808 0 07 Sep 2018
Learning Dexterous In-Hand Manipulation OpenAI OpenAI Marcin Andrychowicz Bowen Baker Maciek Chociej Rafal Jozefowicz ... Szymon Sidor Joshua Tobin Peter Welinder Lilian Weng Wojciech Zaremba 47 1,858 0 01 Aug 2018
A survey on policy search algorithms for learning robot controllers in a handful of trials Konstantinos Chatzilygeroudis Vassilis Vassiliades F. Stulp Sylvain Calinon Jean-Baptiste Mouret 17 155 0 06 Jul 2018
BaRC: Backward Reachability Curriculum for Robotic Reinforcement Learning Boris Ivanovic James Harrison Apoorva Sharma Mo Chen Marco Pavone OffRL 32 57 0 16 Jun 2018
Emergence of Locomotion Behaviours in Rich Environments N. Heess TB Dhruva S. Sriram Jay Lemmon J. Merel ... Tom Erez Ziyun Wang S. M. Ali Eslami Martin Riedmiller David Silver 145 928 0 07 Jul 2017