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Learning to Walk via Deep Reinforcement Learning
v1v2v3 (latest)

Learning to Walk via Deep Reinforcement Learning

26 December 2018
Tuomas Haarnoja
Sehoon Ha
Aurick Zhou
Jie Tan
George Tucker
Sergey Levine
ArXiv (abs)PDFHTML

Papers citing "Learning to Walk via Deep Reinforcement Learning"

50 / 235 papers shown
Title
Learning Sim-to-Real Humanoid Locomotion in 15 Minutes
Learning Sim-to-Real Humanoid Locomotion in 15 Minutes
Younggyo Seo
Carmelo Sferrazza
Juyue Chen
Guanya Shi
Rocky Duan
Pieter Abbeel
144
0
0
01 Dec 2025
Towards Dynamic Quadrupedal Gaits: A Symmetry-Guided RL Hierarchy Enables Free Gait Transitions at Varying Speeds
Towards Dynamic Quadrupedal Gaits: A Symmetry-Guided RL Hierarchy Enables Free Gait Transitions at Varying Speeds
Jiayu Ding
Xulin Chen
Garrett E. Katz
Zhenyu Gan
54
0
0
12 Oct 2025
AD-NODE: Adaptive Dynamics Learning with Neural ODEs for Mobile Robots Control
AD-NODE: Adaptive Dynamics Learning with Neural ODEs for Mobile Robots Control
Shao-Yi Yu
Jen-Wei Wang
Maya Horii
Vikas Garg
Tarek Zohdi
100
0
0
06 Oct 2025
Learning Terrain-Specialized Policies for Adaptive Locomotion in Challenging Environments
Learning Terrain-Specialized Policies for Adaptive Locomotion in Challenging Environments
Matheus P. Angarola
Francisco Affonso
Marcelo Becker
84
0
0
25 Sep 2025
Constructive Conflict-Driven Multi-Agent Reinforcement Learning for Strategic Diversity
Constructive Conflict-Driven Multi-Agent Reinforcement Learning for Strategic DiversityInternational Joint Conference on Artificial Intelligence (IJCAI), 2025
Yuxiang Mai
Qiyue Yin
Wancheng Ni
Pei Xu
K. Huang
98
0
0
16 Sep 2025
Learning to Walk with Less: a Dyna-Style Approach to Quadrupedal Locomotion
Learning to Walk with Less: a Dyna-Style Approach to Quadrupedal Locomotion
Francisco Affonso
Felipe Andrade G. Tommaselli
Juliano Negri
V. S. Medeiros
M. V. Gasparino
Girish Chowdhary
Marcelo Becker
68
2
0
08 Sep 2025
Solving Robotics Tasks with Prior Demonstration via Exploration-Efficient Deep Reinforcement Learning
Solving Robotics Tasks with Prior Demonstration via Exploration-Efficient Deep Reinforcement Learning
Chengyandan Shen
Christoffer Sloth
OffRL
108
0
0
04 Sep 2025
Unsupervised Skill Discovery as Exploration for Learning Agile Locomotion
Unsupervised Skill Discovery as Exploration for Learning Agile Locomotion
Seungeun Rho
Kartik Garg
Morgan Byrd
Sehoon Ha
196
3
0
12 Aug 2025
Scoop-and-Toss: Dynamic Object Collection for Quadrupedal Systems
Minji Kang
Chanwoo Baek
Yoonsang Lee
324
0
0
11 Jun 2025
PPF: Pre-training and Preservative Fine-tuning of Humanoid Locomotion via Model-Assumption-based Regularization
PPF: Pre-training and Preservative Fine-tuning of Humanoid Locomotion via Model-Assumption-based RegularizationIEEE Robotics and Automation Letters (IEEE RA-L), 2025
Hyunyoung Jung
Zhaoyuan Gu
Ye Zhao
Hae-Won Park
Sehoon Ha
282
0
0
14 Apr 2025
Teacher Motion Priors: Enhancing Robot Locomotion over Challenging Terrain
Teacher Motion Priors: Enhancing Robot Locomotion over Challenging Terrain
Fangcheng Jin
Yuqi Wang
Peixin Ma
Guodong Yang
Pan Zhao
En Li
Zhengtao Zhang
365
1
0
14 Apr 2025
Synchronous vs Asynchronous Reinforcement Learning in a Real World Robot
Synchronous vs Asynchronous Reinforcement Learning in a Real World Robot
Ali Parsaee
Fahim Shahriar
Chuxin He
Ruiqing Tan
OffRL
160
0
0
17 Mar 2025
Robotic Table Tennis: A Case Study into a High Speed Learning System
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
313
24
0
20 Feb 2025
Towards Bio-inspired Heuristically Accelerated Reinforcement Learning for Adaptive Underwater Multi-Agents Behaviour
Antoine Vivien
Thomas Chaffre
Matthew Stephenson
Eva Artusi
Paulo E. Santos
Benoit Clement
Anne-Gwenn Bosser
AI4CE
186
0
0
10 Feb 2025
Risk-sensitive control as inference with Rényi divergence
Risk-sensitive control as inference with Rényi divergenceNeural Information Processing Systems (NeurIPS), 2024
Kaito Ito
Kenji Kashima
203
2
0
04 Nov 2024
Reinforcement Learning For Quadrupedal Locomotion: Current Advancements
  And Future Perspectives
Reinforcement Learning For Quadrupedal Locomotion: Current Advancements And Future Perspectives
Maurya Gurram
Prakash Kumar Uttam
Shantipal S. Ohol
OffRL
320
1
0
14 Oct 2024
Bisimulation metric for Model Predictive Control
Bisimulation metric for Model Predictive ControlInternational Conference on Learning Representations (ICLR), 2024
Yutaka Shimizu
Masayoshi Tomizuka
191
2
0
06 Oct 2024
Constrained Reinforcement Learning for Safe Heat Pump Control
Constrained Reinforcement Learning for Safe Heat Pump Control
Baohe Zhang
Lilli Frison
Thomas Brox
Joschka Bödecker
AI4CE
179
1
0
29 Sep 2024
SHIRE: Enhancing Sample Efficiency using Human Intuition in REinforcement Learning
SHIRE: Enhancing Sample Efficiency using Human Intuition in REinforcement LearningIEEE International Conference on Robotics and Automation (ICRA), 2024
Amogh Joshi
Adarsh Kosta
Kaushik Roy
OffRL
343
4
0
16 Sep 2024
Deep reinforcement learning for tracking a moving target in
  jellyfish-like swimming
Deep reinforcement learning for tracking a moving target in jellyfish-like swimming
Yihao Chen
Yue Yang
137
1
0
13 Sep 2024
Artificially intelligent Maxwell's demon for optimal control of open
  quantum systems
Artificially intelligent Maxwell's demon for optimal control of open quantum systemsQuantum Science and Technology (QST), 2024
P. A. Erdman
R. Czupryniak
Bibek Bhandari
Andrew N. Jordan
Frank Noé
J. Eisert
Giacomo Guarnieri
178
4
0
27 Aug 2024
Meta SAC-Lag: Towards Deployable Safe Reinforcement Learning via
  MetaGradient-based Hyperparameter Tuning
Meta SAC-Lag: Towards Deployable Safe Reinforcement Learning via MetaGradient-based Hyperparameter TuningIEEE/RJS International Conference on Intelligent RObots and Systems (IROS), 2024
Homayoun Honari
Amir M. Soufi Enayati
Mehran Ghafarian Tamizi
Homayoun Najjaran
201
3
0
15 Aug 2024
Discretizing Continuous Action Space with Unimodal Probability
  Distributions for On-Policy Reinforcement Learning
Discretizing Continuous Action Space with Unimodal Probability Distributions for On-Policy Reinforcement LearningIEEE Transactions on Neural Networks and Learning Systems (TNNLS), 2024
Yuanyang Zhu
Zhi Wang
Yuanheng Zhu
Chunlin Chen
Dongbin Zhao
349
3
0
01 Aug 2024
RoboMorph: Evolving Robot Morphology using Large Language Models
RoboMorph: Evolving Robot Morphology using Large Language Models
Kevin Qiu
Krzysztof Ciebiera
Krzysztof Ciebiera
Marek Cygan
Marek Cygan
Łukasz Kuciński
LM&Ro
313
6
0
11 Jul 2024
Commonsense Reasoning for Legged Robot Adaptation with Vision-Language
  Models
Commonsense Reasoning for Legged Robot Adaptation with Vision-Language Models
Annie S. Chen
Alec M. Lessing
Andy Tang
Govind Chada
Laura Smith
Sergey Levine
Chelsea Finn
LM&RoLRM
269
18
0
02 Jul 2024
PoliFormer: Scaling On-Policy RL with Transformers Results in Masterful
  Navigators
PoliFormer: Scaling On-Policy RL with Transformers Results in Masterful Navigators
Kuo-Hao Zeng
Zichen Zhang
Kiana Ehsani
Rose Hendrix
Jordi Salvador
Alvaro Herrasti
Ross Girshick
Aniruddha Kembhavi
Luca Weihs
LM&RoOffRL
191
51
0
28 Jun 2024
HYPERmotion: Learning Hybrid Behavior Planning for Autonomous
  Loco-manipulation
HYPERmotion: Learning Hybrid Behavior Planning for Autonomous Loco-manipulation
Jin Wang
Rui Dai
Weijie Wang
Luca Rossini
Francesco Ruscelli
Nikos Tsagarakis
183
12
0
20 Jun 2024
What Teaches Robots to Walk, Teaches Them to Trade too -- Regime
  Adaptive Execution using Informed Data and LLMs
What Teaches Robots to Walk, Teaches Them to Trade too -- Regime Adaptive Execution using Informed Data and LLMs
Raeid Saqur
185
3
0
20 Jun 2024
Sim-to-Real Transfer of Deep Reinforcement Learning Agents for Online Coverage Path Planning
Sim-to-Real Transfer of Deep Reinforcement Learning Agents for Online Coverage Path PlanningIEEE Access (IEEE Access), 2024
Arvi Jonnarth
Ola Johansson
Jie Zhao
Michael Felsberg
OffRL
400
5
0
07 Jun 2024
Strategically Conservative Q-Learning
Strategically Conservative Q-Learning
Yutaka Shimizu
Joey Hong
Sergey Levine
Masayoshi Tomizuka
OffRLOnRL
234
1
0
06 Jun 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
304
23
0
03 Jun 2024
Employing Federated Learning for Training Autonomous HVAC Systems
Employing Federated Learning for Training Autonomous HVAC Systems
Fredrik Hagström
Vikas Garg
Fabricio Oliveira
AI4CE
349
4
0
01 May 2024
Learning H-Infinity Locomotion Control
Learning H-Infinity Locomotion Control
Junfeng Long
Wenye Yu
Quanyi Li
Zirui Wang
Dahua Lin
Jiangmiao Pang
218
13
0
22 Apr 2024
Model-based Offline Quantum Reinforcement Learning
Model-based Offline Quantum Reinforcement Learning
Simon Eisenmann
Daniel Hein
Steffen Udluft
Thomas Runkler
206
6
0
14 Apr 2024
MQE: Unleashing the Power of Interaction with Multi-agent Quadruped
  Environment
MQE: Unleashing the Power of Interaction with Multi-agent Quadruped EnvironmentIEEE/RJS International Conference on Intelligent RObots and Systems (IROS), 2024
Ziyan Xiong
Bo Chen
Shiyu Huang
Weijuan Tu
Zhaofeng He
Yang Gao
294
12
0
24 Mar 2024
Decomposing Control Lyapunov Functions for Efficient Reinforcement
  Learning
Decomposing Control Lyapunov Functions for Efficient Reinforcement LearningAmerican Control Conference (ACC), 2024
Antonio Lopez
David Fridovich-Keil
196
2
0
18 Mar 2024
Risk-Sensitive Soft Actor-Critic for Robust Deep Reinforcement Learning
  under Distribution Shifts
Risk-Sensitive Soft Actor-Critic for Robust Deep Reinforcement Learning under Distribution Shifts
Tobias Enders
James Harrison
Maximilian Schiffer
OOD
255
4
0
15 Feb 2024
Transferring human emotions to robot motions using Neural Policy Style
  Transfer
Transferring human emotions to robot motions using Neural Policy Style Transfer
R. Fernandez-Fernandez
Bartek Łukawski
J. Victores
C. Pacchierotti
171
21
0
01 Feb 2024
Reinforcement Learning for Versatile, Dynamic, and Robust Bipedal
  Locomotion Control
Reinforcement Learning for Versatile, Dynamic, and Robust Bipedal Locomotion Control
Zhongyu Li
Xue Bin Peng
Pieter Abbeel
Sergey Levine
Glen Berseth
Koushil Sreenath
266
149
0
30 Jan 2024
Training microrobots to swim by a large language model
Training microrobots to swim by a large language modelPhysical Review Applied (Phys. Rev. Appl.), 2024
Zhuoqun Xu
Lailai Zhu
211
8
0
21 Jan 2024
Aquarium: A Comprehensive Framework for Exploring Predator-Prey Dynamics
  through Multi-Agent Reinforcement Learning Algorithms
Aquarium: A Comprehensive Framework for Exploring Predator-Prey Dynamics through Multi-Agent Reinforcement Learning AlgorithmsInternational Conference on Agents and Artificial Intelligence (ICAART), 2024
Michael Kolle
Yannick Erpelding
Fabian Ritz
Thomy Phan
Steffen Illium
Claudia Linnhoff-Popien
236
0
0
13 Jan 2024
Physics-Informed Multi-Agent Reinforcement Learning for Distributed Multi-Robot Problems
Physics-Informed Multi-Agent Reinforcement Learning for Distributed Multi-Robot ProblemsIEEE Transactions on robotics (TRO), 2023
Eduardo Sebastián
T. Duong
Nikolay Atanasov
Eduardo Montijano
C. Sagüés
675
6
0
30 Dec 2023
Astrocyte Regulated Neuromorphic Central Pattern Generator Control of Legged Robotic Locomotion
Astrocyte Regulated Neuromorphic Central Pattern Generator Control of Legged Robotic Locomotion
Zhuangyu Han
Abhronil Sengupta
281
2
0
25 Dec 2023
MPC-Inspired Reinforcement Learning for Verifiable Model-Free Control
MPC-Inspired Reinforcement Learning for Verifiable Model-Free ControlConference on Learning for Dynamics & Control (L4DC), 2023
Yiwen Lu
Zishuo Li
Yihan Zhou
Na Li
Yilin Mo
272
5
0
08 Dec 2023
Diffused Task-Agnostic Milestone Planner
Diffused Task-Agnostic Milestone Planner
Mineui Hong
Minjae Kang
Songhwai Oh
282
8
0
06 Dec 2023
TWIST: Teacher-Student World Model Distillation for Efficient
  Sim-to-Real Transfer
TWIST: Teacher-Student World Model Distillation for Efficient Sim-to-Real TransferIEEE International Conference on Robotics and Automation (ICRA), 2023
Jun Yamada
Marc Rigter
Jack Collins
Ingmar Posner
159
12
0
07 Nov 2023
Toward the use of proxies for efficient learning manipulation and
  locomotion strategies on soft robots
Toward the use of proxies for efficient learning manipulation and locomotion strategies on soft robotsIEEE Robotics and Automation Letters (RA-L), 2023
Etienne Ménager
Quentin Peyron
Christian Duriez
145
3
0
25 Oct 2023
Learning Agility and Adaptive Legged Locomotion via Curricular Hindsight
  Reinforcement Learning
Learning Agility and Adaptive Legged Locomotion via Curricular Hindsight Reinforcement LearningScientific Reports (Sci Rep), 2023
Sicen Li
Yiming Pang
Panju Bai
Zhaojin Liu
Jiawei Li
Shihao Hu
Liquan Wang
Gang Wang
277
11
0
24 Oct 2023
Sim-to-Real Transfer of Adaptive Control Parameters for AUV
  Stabilization under Current Disturbance
Sim-to-Real Transfer of Adaptive Control Parameters for AUV Stabilization under Current Disturbance
Thomas Chaffre
J. Wheare
A. Lammas
Paulo E. Santos
G. Chenadec
Anne-Gwenn Bosser
Benoit Clement
174
10
0
17 Oct 2023
BayRnTune: Adaptive Bayesian Domain Randomization via Strategic
  Fine-tuning
BayRnTune: Adaptive Bayesian Domain Randomization via Strategic Fine-tuningIEEE/RJS International Conference on Intelligent RObots and Systems (IROS), 2023
Tianle Huang
Nitish Sontakke
K. N. Kumar
Irfan Essa
Stefanos Nikolaidis
Dennis W. Hong
Sehoon Ha
182
6
0
16 Oct 2023
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