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
Efficient Exploration Using Extra Safety Budget in Constrained Policy Optimization Haotian Xu Shengjie Wang Zhaolei Wang Yunzhe Zhang Qing Zhuo Yang Gao Tao Zhang 20 0 0 28 Feb 2023
DDCNN: A Promising Tool for Simulation-To-Reality UAV Fault Diagnosis Wei Zhang Shanze Wang Junjie Tong F. Liao Yunfeng Zhang Xiaoyu Shen 14 2 0 16 Feb 2023
NeuronsGym: A Hybrid Framework and Benchmark for Robot Tasks with Sim2Real Policy Learning Haoran Li Shasha Liu Mingjun Ma Guangzheng Hu Yaran Chen Dong Zhao 38 3 0 07 Feb 2023
DITTO: Offline Imitation Learning with World Models Branton DeMoss Paul Duckworth Nick Hawes Ingmar Posner Ingmar Posner OffRL 26 18 0 06 Feb 2023
DreamWaQ: Learning Robust Quadrupedal Locomotion With Implicit Terrain Imagination via Deep Reinforcement Learning Aswin Nahrendra Byeong-Uk Yu Hyunsam Myung 37 84 0 25 Jan 2023
Teleoperation of Humanoid Robots: A Survey Kourosh Darvish Luigi Penco Joao Ramos Rafael Cisneros J. Pratt E. Yoshida S. Ivaldi Daniele Pucci 27 125 0 11 Jan 2023
Orbit: A Unified Simulation Framework for Interactive Robot Learning Environments Mayank Mittal C. Yu Qinxi Yu Jingzhou Liu Nikita Rudin ... Ajay Mandlekar Buck Babich Gavriel State Marco Hutter Animesh Garg 55 177 0 10 Jan 2023
A Policy Optimization Method Towards Optimal-time Stability Shengjie Wang Lan Fengb Xiang Zheng Yu-wen Cao Oluwatosin Oseni Haotian Xu Tao Zhang Yang Gao 44 1 0 02 Jan 2023
Sim-to-Real Transfer for Quadrupedal Locomotion via Terrain Transformer Hang Lai Weinan Zhang Xialin He Chen Yu Zheng Tian Yong Yu Jun Wang 37 20 0 15 Dec 2022
Legged Locomotion in Challenging Terrains using Egocentric Vision Ananye Agarwal Ashish Kumar Jitendra Malik Deepak Pathak 39 207 0 14 Nov 2022
Learning Visual Locomotion with Cross-Modal Supervision Antonio Loquercio Ashish Kumar Jitendra Malik SSL 35 43 0 07 Nov 2022
Learning Modular Robot Locomotion from Demonstrations Julian Whitman Howie Choset 44 1 0 31 Oct 2022
Learning Modular Robot Visual-motor Locomotion Policies Julian Whitman Howie Choset 38 1 0 31 Oct 2022
DeXtreme: Transfer of Agile In-hand Manipulation from Simulation to Reality Ankur Handa Arthur Allshire Viktor Makoviychuk Aleksei Petrenko Ritvik Singh ... Balakumar Sundaralingam Yashraj S. Narang Jean-Francois Lafleche Dieter Fox Gavriel State 45 150 0 25 Oct 2022
Deep Whole-Body Control: Learning a Unified Policy for Manipulation and Locomotion Zipeng Fu Xuxin Cheng Deepak Pathak 30 144 0 18 Oct 2022
Efficient Learning of Locomotion Skills through the Discovery of Diverse Environmental Trajectory Generator Priors Shikha Surana Bryan Lim Antoine Cully 43 3 0 10 Oct 2022
Meta Reinforcement Learning for Optimal Design of Legged Robots Álvaro Belmonte-Baeza Joonho Lee Giorgio Valsecchi Marco Hutter 64 17 0 06 Oct 2022
Learning Low-Frequency Motion Control for Robust and Dynamic Robot Locomotion Siddhant Gangapurwala Luigi Campanaro Ioannis Havoutis 40 13 0 29 Sep 2022
Zero-Shot Retargeting of Learned Quadruped Locomotion Policies Using Hybrid Kinodynamic Model Predictive Control He Li Tingnan Zhang Wenhao Yu Patrick M. Wensing 40 6 0 28 Sep 2022
Advanced Skills by Learning Locomotion and Local Navigation End-to-End Nikita Rudin David Hoeller Marko Bjelonic Marco Hutter 80 71 0 26 Sep 2022
Open-Ended Diverse Solution Discovery with Regulated Behavior Patterns for Cross-Domain Adaptation Kang Xu Yan Ma Bingsheng Wei Wei Li 48 3 0 24 Sep 2022
Quantification before Selection: Active Dynamics Preference for Robust Reinforcement Learning Kang Xu Yan Ma Wei Li 55 0 0 23 Sep 2022
Learning to Exploit Elastic Actuators for Quadruped Locomotion Antonin Raffin D. Seidel Jens Kober Alin Albu-Schäffer João Silvério F. Stulp 29 5 0 15 Sep 2022
GenLoco: Generalized Locomotion Controllers for Quadrupedal Robots Gilbert Feng Hongbo Zhang Zhongyu Li Xue Bin Peng Bhuvan Basireddy ... Zhitao Song Lizhi Yang Yunhui Liu Koushil Sreenath Sergey Levine 100 60 0 12 Sep 2022
Hierarchical Reinforcement Learning for Precise Soccer Shooting Skills using a Quadrupedal Robot Yandong Ji Zhongyu Li Yinan Sun Xue Bin Peng Sergey Levine Glen Berseth Koushil Sreenath 47 63 0 01 Aug 2022
PrePARE: Predictive Proprioception for Agile Failure Event Detection in Robotic Exploration of Extreme Terrains S. Dey David D. Fan Robin Schmid Anushri Dixit K. Otsu Thomas Touma Arndt F. Schilling Ali-akbar Agha-mohammadi 37 10 0 30 Jul 2022
Learning Dynamic Manipulation Skills from Haptic-Play Taeyoon Lee D. Sung Kyoung-Whan Choi Choong-Keun Lee Changwoo Park Keunjun Choi 59 3 0 28 Jul 2022
Learning Bipedal Walking On Planned Footsteps For Humanoid Robots R. P. Singh M. Benallegue M. Morisawa Rafael Cisneros F. Kanehiro 59 17 0 26 Jul 2022
An Optimal Motion Planning Framework for Quadruped Jumping Zhitao Song Linzhu Yue Guangli Sun Yihu Ling Hongshuo Wei Linhai Gui Yun-Hui Liu 32 19 0 25 Jul 2022
Rethinking Sim2Real: Lower Fidelity Simulation Leads to Higher Sim2Real Transfer in Navigation Joanne Truong M. Rudolph Naoki Yokoyama Sonia Chernova Dhruv Batra Akshara Rai 38 40 0 21 Jul 2022
Learning Near-global-optimal Strategies for Hybrid Non-convex Model Predictive Control of Single Rigid Body Locomotion Xuan Lin Feng Xu Alexander Schperberg Dennis W. Hong 46 3 0 16 Jul 2022
Parallel Monte Carlo Tree Search with Batched Rigid-body Simulations for Speeding up Long-Horizon Episodic Robot Planning Baichuan Huang Abdeslam Boularias Jingjin Yu 32 9 0 14 Jul 2022
Reinforcement Learning of CPG-regulated Locomotion Controller for a Soft Snake Robot Xuan Liu C. Onal Jie Fu 48 17 0 11 Jul 2022
Optimizing Bipedal Maneuvers of Single Rigid-Body Models for Reinforcement Learning Ryan Batke Fang-Yu Yu Jeremy Dao J. Hurst Ross L. Hatton Alan Fern Kevin R. Green 54 18 0 09 Jul 2022
Learning fast and agile quadrupedal locomotion over complex terrain Xu Chang Zhitong Zhang Honglei An Hongxu Ma Qing Wei 36 0 0 02 Jul 2022
Learning Variable Impedance Control for Aerial Sliding on Uneven Heterogeneous Surfaces by Proprioceptive and Tactile Sensing Weixuan Zhang Lionel Ott M. Tognon Roland Siegwart 40 21 0 28 Jun 2022
Phasic Self-Imitative Reduction for Sparse-Reward Goal-Conditioned Reinforcement Learning Yunfei Li Tian Gao Jiaqi Yang Huazhe Xu Yi Wu OffRL 48 22 0 24 Jun 2022
A Survey on Model-based Reinforcement Learning Fan Luo Tian Xu Hang Lai Xiong-Hui Chen Weinan Zhang Yang Yu OffRL LRM 65 101 0 19 Jun 2022
GMI-DRL: Empowering Multi-GPU Deep Reinforcement Learning with GPU Spatial Multiplexing Yuke Wang Boyuan Feng Ziyi Wang Tong Geng Ang Li Yufei Ding AI4CE 49 0 0 16 Jun 2022
Neural Scene Representation for Locomotion on Structured Terrain David Hoeller Nikita Rudin Chris Choy Anima Anandkumar Marco Hutter 40 32 0 16 Jun 2022
AdaptiveON: Adaptive Outdoor Local Navigation Method For Stable and Reliable Actions Jing Liang K. Weerakoon Tianrui Guan N. Karapetyan Tianyi Zhou 31 12 0 07 May 2022
Rapid Locomotion via Reinforcement Learning G. Margolis Ge Yang Kartik Paigwar Tao Chen Pulkit Agrawal 54 231 0 05 May 2022
Human Motion Control of Quadrupedal Robots using Deep Reinforcement Learning Sunwoo Kim Maks Sorokin Jehee Lee Sehoon Ha 47 14 0 28 Apr 2022
Optimizing Nitrogen Management with Deep Reinforcement Learning and Crop Simulations Jing Wu Ran Tao Pan Zhao N. F. Martin N. Hovakimyan OffRL 33 44 0 21 Apr 2022
Learning Forward Dynamics Model and Informed Trajectory Sampler for Safe Quadruped Navigation Yunho Kim Chanyoung Kim Jemin Hwangbo 50 10 0 19 Apr 2022
Hybrid LMC: Hybrid Learning and Model-based Control for Wheeled Humanoid Robot via Ensemble Deep Reinforcement Learning D. Baek Amartya Purushottam Joao Ramos 36 9 0 07 Apr 2022
Imitate and Repurpose: Learning Reusable Robot Movement Skills From Human and Animal Behaviors Steven Bohez S. Tunyasuvunakool Philemon Brakel Fereshteh Sadeghi Leonard Hasenclever ... Nathan Batchelor Federico Casarini J. Merel R. Hadsell N. Heess 55 51 0 31 Mar 2022
Advanced Skills through Multiple Adversarial Motion Priors in Reinforcement Learning Eric Vollenweider Marko Bjelonic Victor Klemm Nikita Rudin Joonho Lee Marco Hutter 12 71 0 23 Mar 2022
Leveraging Randomized Smoothing for Optimal Control of Nonsmooth Dynamical Systems Quentin Le Lidec Fabian Schramm Louis Montaut Cordelia Schmid Ivan Laptev Justin Carpentier 46 24 0 08 Mar 2022
Reactive Stepping for Humanoid Robots using Reinforcement Learning: Application to Standing Push Recovery on the Exoskeleton Atalante Alexis Duburcq Fabian Schramm Guilhem Boéris Nicolas Bredèche Y. Chevaleyre 43 8 0 02 Mar 2022