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 / 275 papers shown

Title
Back to Newton's Laws: Learning Vision-based Agile Flight via Differentiable Physics Yuang Zhang Yu Hu Yunlong Song Danping Zou Weiyao Lin 46 18 0 15 Jul 2024
RoboMorph: Evolving Robot Morphology using Large Language Models Kevin Qiu Krzysztof Ciebiera Krzysztof Ciebiera Marek Cygan Marek Cygan Łukasz Kuciński LM&Ro 66 0 0 11 Jul 2024
Towards the Transferability of Rewards Recovered via Regularized Inverse Reinforcement Learning Andreas Schlaginhaufen Maryam Kamgarpour OffRL 30 1 0 03 Jun 2024
Efficient Recurrent Off-Policy RL Requires a Context-Encoder-Specific Learning Rate Fan Luo Zuolin Tu Zefang Huang Yang Yu OffRL 51 0 0 24 May 2024
Cross-Domain Policy Adaptation by Capturing Representation Mismatch Jiafei Lyu Chenjia Bai Jingwen Yang Zongqing Lu Xiu Li 35 9 0 24 May 2024
Learning of Balance Controller Considering Changes in Body State for Musculoskeletal Humanoids Kento Kawaharazuka Yoshimoto Ribayashi Akihiro Miki Yasunori Toshimitsu Temma Suzuki K. Okada Masayuki Inaba 46 1 0 20 May 2024
Deep Reinforcement Learning for Bipedal Locomotion: A Brief Survey Lingfan Bao Josephine N. Humphreys Tianhu Peng Chengxu Zhou 73 5 0 25 Apr 2024
Agile and versatile bipedal robot tracking control through reinforcement learning Jiayi Li Linqi Ye Yi Cheng Houde Liu Bin Liang 55 1 0 12 Apr 2024
Humanoid-Gym: Reinforcement Learning for Humanoid Robot with Zero-Shot Sim2Real Transfer Xinyang Gu Yen-Jen Wang Jianyu Chen 55 36 0 08 Apr 2024
Long-horizon Locomotion and Manipulation on a Quadrupedal Robot with Large Language Models Yutao Ouyang Jinhan Li Yunfei Li Zhongyu Li Chao Yu Koushil Sreenath Yi Wu 78 15 0 08 Apr 2024
Adaptive Energy Regularization for Autonomous Gait Transition and Energy-Efficient Quadruped Locomotion Boyuan Liang Lingfeng Sun Xinghao Zhu Bike Zhang Ziyin Xiong Yixiao Wang Chenran Li Koushil Sreenath Masayoshi Tomizuka 87 3 0 29 Mar 2024
MQE: Unleashing the Power of Interaction with Multi-agent Quadruped Environment Ziyan Xiong Bo Chen Shiyu Huang Weijuan Tu Zhaofeng He Yang Gao 57 4 0 24 Mar 2024
Continuous Jumping of a Parallel Wire-Driven Monopedal Robot RAMIEL Using Reinforcement Learning Kento Kawaharazuka Temma Suzuki K. Okada Masayuki Inaba 37 1 0 17 Mar 2024
Learning Quadrupedal Locomotion with Impaired Joints Using Random Joint Masking Mincheol Kim Ukcheol Shin Jung-Yup Kim 35 0 0 01 Mar 2024
MOB-Net: Limb-modularized Uncertainty Torque Learning of Humanoids for Sensorless External Torque Estimation Daegyu Lim Myeong-Ju Kim Junhyeok Cha Jaeheung Park 42 1 0 17 Feb 2024
Agile But Safe: Learning Collision-Free High-Speed Legged Locomotion Tairan He Chong Zhang Wenli Xiao Guanqi He Changliu Liu Guanya Shi 54 60 0 31 Jan 2024
Curriculum-Based Reinforcement Learning for Quadrupedal Jumping: A Reference-free Design Vassil Atanassov Jiatao Ding Jens Kober Ioannis Havoutis Cosimo Della Santina 32 8 0 29 Jan 2024
Learning Hybrid Policies for MPC with Application to Drone Flight in Unknown Dynamic Environments Zhaohan Feng Jie Chen Wei Xiao Jian Sun Bin Xin Gang Wang 62 2 0 18 Jan 2024
Actuator-Constrained Reinforcement Learning for High-Speed Quadrupedal Locomotion Young-Ha Shin Tae-Gyu Song Gwanghyeon Ji Hae-Won Park 35 4 0 29 Dec 2023
Hybrid Internal Model: Learning Agile Legged Locomotion with Simulated Robot Response Junfeng Long Zirui Wang Quanyi Li Jiawei Gao Liu Cao Jiangmiao Pang 70 26 0 18 Dec 2023
Solving the swing-up and balance task for the Acrobot and Pendubot with SAC Chi Zhang Akhil Sathuluri Markus Zimmermann 31 3 0 18 Dec 2023
Centroidal State Estimation and Control for Hardware-constrained Humanoid Robots Grzegorz Ficht Sven Behnke 34 2 0 18 Dec 2023
Enhancing Robotic Navigation: An Evaluation of Single and Multi-Objective Reinforcement Learning Strategies Vicki Young Jumman Hossain Nirmalya Roy 37 1 0 13 Dec 2023
On the Role of the Action Space in Robot Manipulation Learning and Sim-to-Real Transfer Elie Aljalbout Felix Frank Maximilian Karl Patrick van der Smagt 33 20 0 06 Dec 2023
Differentiable Visual Computing for Inverse Problems and Machine Learning Andrew Spielberg Fangcheng Zhong Konstantinos Rematas Krishna Murthy Jatavallabhula Cengiz Öztireli Tzu-Mao Li Derek Nowrouzezahrai 58 8 0 21 Nov 2023
Data-Guided Regulator for Adaptive Nonlinear Control Niyousha Rahimi M. Mesbahi 57 0 0 20 Nov 2023
ManyQuadrupeds: Learning a Single Locomotion Policy for Diverse Quadruped Robots M. Shafiee Guillaume Bellegarda A. Ijspeert 36 27 0 16 Oct 2023
An Open-Loop Baseline for Reinforcement Learning Locomotion Tasks Antonin Raffin Olivier Sigaud Jens Kober Alin Albu-Schäffer João Silvério F. Stulp 45 2 0 09 Oct 2023
DTC: Deep Tracking Control Fabian Jenelten Junzhe He Farbod Farshidian Marco Hutter 41 74 0 27 Sep 2023
Learning Risk-Aware Quadrupedal Locomotion using Distributional Reinforcement Learning Lukas Schneider Jonas Frey Takahiro Miki Marco Hutter 45 9 0 25 Sep 2023
Contrastive Initial State Buffer for Reinforcement Learning Nico Messikommer Yunlong Song Davide Scaramuzza OffRL 49 9 0 18 Sep 2023
Efficient Reinforcement Learning for Jumping Monopods Riccardo Bussola Michele Focchi Andrea Del Prete Daniele Fontanelli Luigi Palopoli 47 2 0 13 Sep 2023
Pre- and post-contact policy decomposition for non-prehensile manipulation with zero-shot sim-to-real transfer Minchan Kim Junhyek Han Jaehyung Kim Beomjoon Kim 32 17 0 06 Sep 2023
Benchmarking Offline Reinforcement Learning on Real-Robot Hardware Nico Gürtler Sebastian Blaes Pavel Kolev Felix Widmaier Manuel Wüthrich Stefan Bauer Bernhard Schölkopf Georg Martius OffRL 62 28 0 28 Jul 2023
Combining model-predictive control and predictive reinforcement learning for stable quadrupedal robot locomotion Vyacheslav Kovalev Anna Shkromada H. Ouerdane Pavel Osinenko 37 2 0 15 Jul 2023
Consecutive Inertia Drift of Autonomous RC Car via Primitive-based Planning and Data-driven Control Yiwen Lu Bo Yang Jiayun Li Yihan Zhou Hong-Shuai Chen Yilin Mo 23 7 0 21 Jun 2023
Reinforcement Learning-based Virtual Fixtures for Teleoperation of Hydraulic Construction Machine Hyung-Joo Lee S. Brell-Çokcan 32 3 0 20 Jun 2023
On the Linear Convergence of Policy Gradient under Hadamard Parameterization Jiacai Liu Jinchi Chen Ke Wei 34 2 0 31 May 2023
RL + Model-based Control: Using On-demand Optimal Control to Learn Versatile Legged Locomotion Dong-oh Kang Jin Cheng Miguel Zamora Fatemeh Zargarbashi Stelian Coros OffRL 34 32 0 29 May 2023
Adaptive Policy Learning to Additional Tasks Wenjian Hao Zehui Lu Zihao Liang Tianyu Zhou Shaoshuai Mou 37 0 0 24 May 2023
Barkour: Benchmarking Animal-level Agility with Quadruped Robots Ken Caluwaerts Atil Iscen J. Kew Wenhao Yu Tingnan Zhang ... J. Seto Carolina Parada Vikas Sindhwani Vincent Vanhoucke Jie Tan 32 60 0 24 May 2023
Testing of Deep Reinforcement Learning Agents with Surrogate Models Matteo Biagiola Paolo Tonella 53 19 0 22 May 2023
Learning Agile Soccer Skills for a Bipedal Robot with Deep Reinforcement Learning Tuomas Haarnoja Ben Moran Guy Lever Sandy H. Huang Dhruva Tirumala ... Andrea Huber N. Hurley F. Nori R. Hadsell N. Heess 67 145 0 26 Apr 2023
Continuous Versatile Jumping Using Learned Action Residuals Yuxiang Yang Xiang Meng Wenhao Yu Tingnan Zhang Jie Tan Byron Boots 55 11 0 17 Apr 2023
Contact Models in Robotics: a Comparative Analysis Quentin Le Lidec Wilson Jallet Louis Montaut Ivan Laptev Cordelia Schmid Justin Carpentier 40 29 0 13 Apr 2023
Neural Volumetric Memory for Visual Locomotion Control Ruihan Yang Ge Yang Xiaolong Wang 33 53 0 03 Apr 2023
DribbleBot: Dynamic Legged Manipulation in the Wild Yandong Ji G. Margolis Pulkit Agrawal 42 57 0 03 Apr 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 39 125 0 06 Mar 2023
Informed Guided Rapidly-Exploring Random Trees*-Connect for Path Planning of Walking Robots D. Belter 28 5 0 06 Mar 2023