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
Reinforcement Learning in Practice: Opportunities and Challenges Yuxi Li OffRL 43 9 0 23 Feb 2022
Concurrent Training of a Control Policy and a State Estimator for Dynamic and Robust Legged Locomotion Gwanghyeon Ji Juhyeok Mun Hyeongjun Kim Jemin Hwangbo 33 138 0 11 Feb 2022
Bingham Policy Parameterization for 3D Rotations in Reinforcement Learning Stephen James Pieter Abbeel 40 9 0 08 Feb 2022
The need for and feasibility of alternative ground robots to traverse sandy and rocky extraterrestrial terrain Chen Li K. Lewis 30 12 0 28 Jan 2022
Evolution Gym: A Large-Scale Benchmark for Evolving Soft Robots Jagdeep Bhatia Holly Jackson Yunsheng Tian Jie Xu Wojciech Matusik 34 81 0 24 Jan 2022
GoSafeOpt: Scalable Safe Exploration for Global Optimization of Dynamical Systems Bhavya Sukhija M. Turchetta David Lindner Andreas Krause Sebastian Trimpe Dominik Baumann 64 17 0 24 Jan 2022
Large-Dimensional Multibody Dynamics Simulation Using Contact Nodalization and Diagonalization Jeongmin Lee Minji Lee Dongjun Lee AI4CE 27 4 0 23 Jan 2022
Learning robust perceptive locomotion for quadrupedal robots in the wild Takahiro Miki Joonho Lee Jemin Hwangbo Lorenz Wellhausen V. Koltun Marco Hutter 39 689 0 20 Jan 2022
Combining Learning-based Locomotion Policy with Model-based Manipulation for Legged Mobile Manipulators Yuntao Ma Farbod Farshidian Takahiro Miki Joonho Lee Marco Hutter 42 70 0 11 Jan 2022
Using Simulation Optimization to Improve Zero-shot Policy Transfer of Quadrotors Sven Gronauer Matthias Kissel L. Sacchetto Mathias Korte Klaus Diepold 34 6 0 04 Jan 2022
Invariance Through Latent Alignment Takuma Yoneda Ge Yang Matthew R. Walter Bradly C. Stadie OOD 32 9 0 15 Dec 2021
Learning multiple gaits of quadruped robot using hierarchical reinforcement learning Yunho Kim Bukun Son Dongjun Lee 40 8 0 09 Dec 2021
Reinforcement Learning for Navigation of Mobile Robot with LiDAR Inhwan Kim S. Nengroo Dongsoo Har 32 13 0 06 Dec 2021
Benchmark for Out-of-Distribution Detection in Deep Reinforcement Learning Aaqib Parvez Mohammed Matias Valdenegro-Toro OOD OffRL 24 10 0 05 Dec 2021
Coupling Vision and Proprioception for Navigation of Legged Robots Zipeng Fu Ashish Kumar Ananye Agarwal Haozhi Qi Jitendra Malik Deepak Pathak 26 74 0 03 Dec 2021
$Improving the Robustness of Reinforcement Learning Policies with $\mathcal{L}_{1}$ Adaptive Control$ Improving the Robustness of Reinforcement Learning Policies with $\mathcal{L}_{1}$ Adaptive Control Y. Cheng Penghui Zhao F. Wang D. Block N. Hovakimyan 62 8 0 03 Dec 2021
Dynamic Mirror Descent based Model Predictive Control for Accelerating Robot Learning Utkarsh Aashu Mishra Soumya R. Samineni Prakhar Goel Chandravaran Kunjeti Himanshu Lodha Aman Singh Aditya Sagi S. Bhatnagar Shishir Kolathaya 32 3 0 04 Nov 2021
Validate on Sim, Detect on Real -- Model Selection for Domain Randomization Gal Leibovich Guy Jacob Shadi Endrawis Gal Novik Aviv Tamar 35 7 0 01 Nov 2021
Learning Coordinated Terrain-Adaptive Locomotion by Imitating a Centroidal Dynamics Planner Philemon Brakel Steven Bohez Leonard Hasenclever N. Heess Konstantinos Bousmalis 55 16 0 30 Oct 2021
Learning to Jump from Pixels G. Margolis Tao Chen Kartik Paigwar Xiang Fu Donghyun Kim Sangbae Kim Pulkit Agrawal 62 82 0 28 Oct 2021
Minimizing Energy Consumption Leads to the Emergence of Gaits in Legged Robots Zipeng Fu Ashish Kumar Jitendra Malik Deepak Pathak 27 115 0 25 Oct 2021
A Differentiable Newton-Euler Algorithm for Real-World Robotics M. Lutter Vallijah Subasri Joe Watson Frank Rudzicz 39 7 0 24 Oct 2021
Legged Robots that Keep on Learning: Fine-Tuning Locomotion Policies in the Real World Laura M. Smith J. Kew Xue Bin Peng Sehoon Ha Jie Tan Sergey Levine 49 102 0 11 Oct 2021
Correct Me if I am Wrong: Interactive Learning for Robotic Manipulation Eugenio Chisari Tim Welschehold Joschka Boedecker Wolfram Burgard Abhinav Valada 21 38 0 07 Oct 2021
Combining Physics and Deep Learning to learn Continuous-Time Dynamics Models M. Lutter Jan Peters PINN AI4CE 45 39 0 05 Oct 2021
Lyapunov-stable neural-network control Hongkai Dai Benoit Landry Lujie Yang Marco Pavone Russ Tedrake 28 120 0 29 Sep 2021
Solving Challenging Control Problems Using Two-Staged Deep Reinforcement Learning Nitish Sontakke Sehoon Ha 35 1 0 27 Sep 2021
PM-FSM: Policies Modulating Finite State Machine for Robust Quadrupedal Locomotion Ren Liu Nitish Sontakke Sehoon Ha 52 2 0 26 Sep 2021
Linear Policies are Sufficient to Realize Robust Bipedal Walking on Challenging Terrains L. Krishna Guillermo A. Castillo Utkarsh Aashu Mishra Ayonga Hereid Shishir Kolathaya 34 23 0 26 Sep 2021
Learning to Walk in Minutes Using Massively Parallel Deep Reinforcement Learning Nikita Rudin David Hoeller Philipp Reist Marco Hutter 120 547 0 24 Sep 2021
Accessibility-Based Clustering for Efficient Learning of Locomotion Skills Chong Zhang Wanming Yu Zhibin Li 57 9 0 23 Sep 2021
Robust Impedance Control for Dexterous Interaction Using Fractal Impedance Controller with IK-Optimisation Carlo Tiseo Quentin Rouxel Zhibin Li M. Mistry 30 2 0 09 Sep 2021
Isaac Gym: High Performance GPU-Based Physics Simulation For Robot Learning Viktor Makoviychuk Lukasz Wawrzyniak Yunrong Guo Michelle Lu Kier Storey ... David Hoeller Nikita Rudin Arthur Allshire Ankur Handa Gavriel State 98 1,023 0 24 Aug 2021
Transferring Dexterous Manipulation from GPU Simulation to a Remote Real-World TriFinger Arthur Allshire Mayank Mittal Varun Lodaya Viktor Makoviychuk Denys Makoviichuk Felix Widmaier Manuel Wüthrich Stefan Bauer Ankur Handa Animesh Garg 37 72 0 22 Aug 2021
Low-level Pose Control of Tilting Multirotor for Wall Perching Tasks Using Reinforcement Learning Hyungyu Lee Myeongwoo Jeong Chanyoung Kim Hyungtae Lim Changgue Park Sungwon Hwang Hyun Myung 22 4 0 11 Aug 2021
BEHAVIOR: Benchmark for Everyday Household Activities in Virtual, Interactive, and Ecological Environments S. Srivastava Chengshu Li Michael Lingelbach Roberto Martín-Martín Fei Xia ... Chenxi Liu Silvio Savarese H. Gweon Jiajun Wu Li Fei-Fei LM&Ro 159 159 0 06 Aug 2021
Adaptive Identification of Legged Robotic Kinematic Structure Bolun Dai 14 1 0 25 Jul 2021
Versatile modular neural locomotion control with fast learning M. Thor P. Manoonpong 47 24 0 16 Jul 2021
Model-free Reinforcement Learning for Robust Locomotion using Demonstrations from Trajectory Optimization Miroslav Bogdanovic Majid Khadiv Ludovic Righetti 129 30 0 14 Jul 2021
RMA: Rapid Motor Adaptation for Legged Robots Ashish Kumar Zipeng Fu Deepak Pathak Jitendra Malik 36 553 0 08 Jul 2021
Learning Vision-Guided Quadrupedal Locomotion End-to-End with Cross-Modal Transformers Ruihan Yang Minghao Zhang Nicklas Hansen Huazhe Xu Xiaolong Wang OffRL 23 102 0 08 Jul 2021
Cat-like Jumping and Landing of Legged Robots in Low-gravity Using Deep Reinforcement Learning Nikita Rudin H. Kolvenbach Vassilios Tsounis Marco Hutter 39 84 0 17 Jun 2021
DeepWalk: Omnidirectional Bipedal Gait by Deep Reinforcement Learning Diego Rodriguez Sven Behnke 30 47 0 01 Jun 2021
Safe Value Functions P. Massiani Steve Heim Friedrich Solowjow Sebastian Trimpe 19 15 0 25 May 2021
From Motor Control to Team Play in Simulated Humanoid Football Siqi Liu Guy Lever Zhe Wang J. Merel S. M. Ali Eslami ... Tuomas Haarnoja Brendan D. Tracey K. Tuyls T. Graepel N. Heess 42 130 0 25 May 2021
Insect-Computer Hybrid System for Autonomous Search and Rescue Mission Tran-Ngoc Pt Long Ld Chong Bs Nguyen Hd Dung Vt ... K. Kai Gan Jh Vo-Doan Tt Thien-Minh Nguyen Hirotaka Sato 28 19 0 23 May 2021
GLiDE: Generalizable Quadrupedal Locomotion in Diverse Environments with a Centroidal Model Zhaoming Xie Xingye Da Buck Babich Animesh Garg M. van de Panne 33 66 0 20 Apr 2021
Two-stage training algorithm for AI robot soccer Taeyoung Kim L. Vecchietti Kyujin Choi Sanem Sariel Dongsoo Har 21 7 0 13 Apr 2021
Robust High-speed Running for Quadruped Robots via Deep Reinforcement Learning Guillaume Bellegarda Yiyu Chen Zhuochen Liu Quan Nguyen 39 44 0 11 Mar 2021
A Survey of Machine Learning for Computer Architecture and Systems Nan Wu Yuan Xie AI4TS AI4CE 40 145 0 16 Feb 2021