Learning agile and dynamic motor skills for legged robots

24 January 2019

Alexey Dosovitskiy

Marco Hutter

Papers citing "Learning agile and dynamic motor skills for legged robots"

50 / 271 papers shown

Title
GRoQ-Loco: Generalist and Robot-agnostic Quadruped Locomotion Control using Offline Datasets Narayanan PP Sarvesh Prasanth Venkatesan Srinivas Kantha Reddy Shishir Kolathaya OffRL 17 0 0 16 May 2025
SHIELD: Safety on Humanoids via CBFs In Expectation on Learned Dynamics Lizhi Yang Blake Werner Ryan K. Cosner David Fridovich-Keil Preston Culbertson Aaron D. Ames 22 0 0 16 May 2025
APEX: Action Priors Enable Efficient Exploration for Skill Imitation on Articulated Robots Shivam Sood Laukik B Nakhwa Yuhong Cao Sun Ge Guillaume Sartoretti 28 0 0 15 May 2025
Visual Imitation Enables Contextual Humanoid Control Arthur Allshire Hongsuk Choi Junyi Zhang David McAllister Anthony Zhang Chung Min Kim Trevor Darrell Pieter Abbeel Jitendra Malik Angjoo Kanazawa LM&Ro 245 0 0 06 May 2025
Learn to Swim: Data-Driven LSTM Hydrodynamic Model for Quadruped Robot Gait Optimization Fei Han Pengming Guo Hao Chen Weikun Li Jie Ren Naijun Liu Ning Yang Dixia Fan 56 0 0 06 May 2025
SkillMimic-V2: Learning Robust and Generalizable Interaction Skills from Sparse and Noisy Demonstrations Runyi Yu Yinhuai Wang Qihan Zhao Hok Wai Tsui Jingbo Wang P. Tan Qifeng Chen OffRL 41 0 0 04 May 2025
Deformable Multibody Modeling for Model Predictive Control in Legged Locomotion with Embodied Compliance Keran Ye Konstantinos Karydis 42 0 0 28 Apr 2025
Learned Perceptive Forward Dynamics Model for Safe and Platform-aware Robotic Navigation Pascal Roth Jonas Frey Cesar Cadena Marco Hutter 41 0 0 27 Apr 2025
High-Performance Reinforcement Learning on Spot: Optimizing Simulation Parameters with Distributional Measures A. J Miller Fangzhou Yu Michael Brauckmann Farbod Farshidian OffRL BDL 34 0 0 24 Apr 2025
Dynamic Legged Ball Manipulation on Rugged Terrains with Hierarchical Reinforcement Learning Dongjie Zhu Zhuo Yang Tianhang Wu Luzhou Ge Xiaochen Li Qi Liu Xuzhao Li 36 0 0 21 Apr 2025
Post-Convergence Sim-to-Real Policy Transfer: A Principled Alternative to Cherry-Picking Dylan Khor Bowen Weng 47 1 0 21 Apr 2025
Teacher Motion Priors: Enhancing Robot Locomotion over Challenging Terrain Fangcheng Jin Yuqi Wang Peixin Ma Guodong Yang Pan Zhao En Li Zhengtao Zhang 41 0 0 14 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
RobustDexGrasp: Robust Dexterous Grasping of General Objects Hui Zhang Zijian Wu Linyi Huang Sammy Christen Jie Song 54 1 0 07 Apr 2025
Learning Bipedal Locomotion on Gear-Driven Humanoid Robot Using Foot-Mounted IMUs Sotaro Katayama Yuta Koda Norio Nagatsuka Masaya Kinoshita 63 0 0 01 Apr 2025
Reward Training Wheels: Adaptive Auxiliary Rewards for Robotics Reinforcement Learning Linji Wang Tong Xu Yuanjie Lu Xuesu Xiao 57 0 0 19 Mar 2025
ES-Parkour: Advanced Robot Parkour with Bio-inspired Event Camera and Spiking Neural Network Qiang Zhang Jiahang Cao Jingkai Sun Yecheng Shao Gang Han Wen Zhao Yijie Guo Renjing Xu 62 0 0 13 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
MoE-Loco: Mixture of Experts for Multitask Locomotion Runhan Huang Shaoting Zhu Yilun Du Hang Zhao MoE 51 0 0 11 Mar 2025
Hyperspherical Normalization for Scalable Deep Reinforcement Learning Hojoon Lee Youngdo Lee Takuma Seno Donghu Kim Peter Stone Jaegul Choo 77 1 0 24 Feb 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
Learning Getting-Up Policies for Real-World Humanoid Robots Xialin He Runpei Dong Zixuan Chen Saurabh Gupta 77 6 0 17 Feb 2025
Bridging the Sim-to-Real Gap for Athletic Loco-Manipulation Nolan Fey G. Margolis Martin Peticco Pulkit Agrawal 61 4 0 15 Feb 2025
Discovery of skill switching criteria for learning agile quadruped locomotion Wanming Yu Fernando Acero Vassil Atanassov Chuanyu Yang Ioannis Havoutis Dimitrios Kanoulas Zhibin Li 58 0 0 10 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 12 0 03 Feb 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
Visual Semantic Navigation with Real Robots Carlos Gutiérrez-Álvarez Pablo Ríos-Navarro Rafael Flor-Rodríguez Francisco Javier Acevedo-Rodríguez Roberto J. López-Sastre 55 2 0 10 Jan 2025
QuadWBG: Generalizable Quadrupedal Whole-Body Grasping Jilong Wang Javokhirbek Rajabov Chaoyi Xu Yiming Zheng He Wang 49 1 0 11 Nov 2024
An Open-source Sim2Real Approach for Sensor-independent Robot Navigation in a Grid Murad Mehrab Abrar Souryadeep Mondal Michelle Hickner 43 0 0 05 Nov 2024
Environment as Policy: Learning to Race in Unseen Tracks Hongze Wang Jiaxu Xing Nico Messikommer Davide Scaramuzza 34 1 0 29 Oct 2024
An Intelligent Agentic System for Complex Image Restoration Problems Kaiwen Zhu Jinjin Gu Zhiyuan You Yu Qiao Chao Dong 50 6 0 23 Oct 2024
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 36 0 0 22 Oct 2024
Cycloidal Quasi-Direct Drive Actuator Designs with Learning-based Torque Estimation for Legged Robotics Alvin Zhu Yusuke Tanaka Fadi Rafeedi Dennis W. Hong 39 1 0 22 Oct 2024
Learning Quadrotor Control From Visual Features Using Differentiable Simulation Johannes Heeg Yunlong Song Davide Scaramuzza 48 6 0 21 Oct 2024
Extended Friction Models for the Physics Simulation of Servo Actuators Marc Duclusaud G. Passault Vincent Padois Olivier Ly 24 0 0 11 Oct 2024
Synthesizing Interpretable Control Policies through Large Language Model Guided Search Carlo Bosio Mark W. Mueller 32 0 0 07 Oct 2024
Learning Object Properties Using Robot Proprioception via Differentiable Robot-Object Interaction Julius Berner Chao Liu Pingchuan Ma John Eastman Daniela Rus Dylan Randle Yuri Ivanov Wojciech Matusik 48 0 0 04 Oct 2024
Learning to Swim: Reinforcement Learning for 6-DOF Control of Thruster-driven Autonomous Underwater Vehicles Levi Cai Kevin Chang Yogesh A. Girdhar 32 1 0 30 Sep 2024
Playful DoggyBot: Learning Agile and Precise Quadrupedal Locomotion Xin Duan Ziwen Zhuang Hang Zhao Soeren Schwertfeger 63 2 0 30 Sep 2024
The Duke Humanoid: Design and Control For Energy Efficient Bipedal Locomotion Using Passive Dynamics Boxi Xia Bokuan Li Jacob Lee Michael Scutari Boyuan Chen AI4CE 36 4 0 29 Sep 2024
Behavior evolution-inspired approach to walking gait reinforcement training for quadruped robots Yu Wang Wenchuan Jia Yi Sun Dong He 37 0 0 25 Sep 2024
A Learning Framework for Diverse Legged Robot Locomotion Using Barrier-Based Style Rewards Gijeong Kim Yong-Hoon Lee Hae-Won Park 63 6 0 24 Sep 2024
Whole-body End-Effector Pose Tracking Tifanny Portela Andrei Cramariuc Mayank Mittal Marco Hutter 60 3 0 24 Sep 2024
SoloParkour: Constrained Reinforcement Learning for Visual Locomotion from Privileged Experience Elliot Chane-Sane Joseph Amigo Thomas Flayols Ludovic Righetti Nicolas Mansard 61 6 0 20 Sep 2024
PIP-Loco: A Proprioceptive Infinite Horizon Planning Framework for Quadrupedal Robot Locomotion Aditya Shirwatkar Naman Saxena Kishore Chandra Shishir Kolathaya 52 3 0 14 Sep 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
Non-Gaited Legged Locomotion with Monte-Carlo Tree Search and Supervised Learning Ilyass Taouil Lorenzo Amatucci Majid Khadiv Angela Dai Victor Barasuol Giulio Turrisi Claudio Semini 47 0 0 14 Aug 2024
TacSL: A Library for Visuotactile Sensor Simulation and Learning Iretiayo Akinola Jie Xu Jan Carius Dieter Fox Yashraj S. Narang 51 6 0 12 Aug 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
Back to Newton's Laws: Learning Vision-based Agile Flight via Differentiable Physics Yuang Zhang Yu Hu Yunlong Song Danping Zou Weiyao Lin 46 17 0 15 Jul 2024