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
How to Train Your Robot with Deep Reinforcement Learning; Lessons We've Learned Julian Ibarz Jie Tan Chelsea Finn Mrinal Kalakrishnan P. Pastor Sergey Levine OffRL 30 521 0 04 Feb 2021
Active Model Learning using Informative Trajectories for Improved Closed-Loop Control on Real Robots Weixuan Zhang M. Tognon Lionel Ott Roland Siegwart Juan I. Nieto 24 7 0 20 Jan 2021
Meta-Reinforcement Learning for Adaptive Motor Control in Changing Robot Dynamics and Environments Timothée Anne Jack Wilkinson Zhibin Li 46 1 0 19 Jan 2021
A Spiking Central Pattern Generator for the control of a simulated lamprey robot running on SpiNNaker and Loihi neuromorphic boards Emmanouil Angelidis Emanuel Buchholz Jonathan Arreguit A. Rougé T. Stewart Axel Von Arnim Alois C. Knoll A. Ijspeert 43 28 0 18 Jan 2021
SimGAN: Hybrid Simulator Identification for Domain Adaptation via Adversarial Reinforcement Learning Yifeng Jiang Tingnan Zhang Daniel Ho Yunfei Bai Chenxi Liu Sergey Levine Jie Tan GAN 37 54 0 15 Jan 2021
Asymmetric self-play for automatic goal discovery in robotic manipulation OpenAI OpenAI Matthias Plappert Raul Sampedro Tao Xu Ilge Akkaya ... Hyeonwoo Noh Lilian Weng Qiming Yuan Casey Chu Wojciech Zaremba SSL 82 76 0 13 Jan 2021
Context-Aware Safe Reinforcement Learning for Non-Stationary Environments Baiming Chen Zuxin Liu Jiacheng Zhu Mengdi Xu Wenhao Ding Ding Zhao 30 35 0 02 Jan 2021
Mesh Based Analysis of Low Fractal Dimension Reinforcement Learning Policies Sean Gillen Katie Byl AI4CE 36 2 0 24 Dec 2020
Representation-Free Model Predictive Control for Dynamic Motions in Quadrupeds Yanran Ding Abhishek Pandala Chuanzheng Li Young-Ha Shin Hae-Won Park 25 137 0 18 Dec 2020
Multi-expert learning of adaptive legged locomotion Chuanyu Yang Kai Yuan Qiuguo Zhu Wanming Yu Zhibin Li 111 184 0 10 Dec 2020
RLOC: Terrain-Aware Legged Locomotion using Reinforcement Learning and Optimal Control Siddhant Gangapurwala Mathieu Geisert Romeo Orsolino Maurice F. Fallon Ioannis Havoutis 56 115 0 05 Dec 2020
Learning from Simulation, Racing in Reality Eugenio Chisari Alexander Liniger Alisa Rupenyan Luc Van Gool John Lygeros 35 25 0 26 Nov 2020
Regret Bounds for Adaptive Nonlinear Control Nicholas M. Boffi Stephen Tu Jean-Jacques E. Slotine 58 47 0 26 Nov 2020
From Pixels to Legs: Hierarchical Learning of Quadruped Locomotion Deepali Jain Atil Iscen Ken Caluwaerts 36 35 0 23 Nov 2020
Phoebe: Reuse-Aware Online Caching with Reinforcement Learning for Emerging Storage Models Nan Wu Pengcheng Li 32 7 0 13 Nov 2020
Robust Quadruped Jumping via Deep Reinforcement Learning Guillaume Bellegarda Chuong H. Nguyen Quan Nguyen 32 63 0 13 Nov 2020
Joint Space Control via Deep Reinforcement Learning Visak C. V. Kumar David Hoeller Balakumar Sundaralingam Jonathan Tremblay Stan Birchfield DRL 27 15 0 12 Nov 2020
Zero-Shot Terrain Generalization for Visual Locomotion Policies Alejandro Escontrela George Yu P. Xu Atil Iscen Jie Tan 11 17 0 11 Nov 2020
f-IRL: Inverse Reinforcement Learning via State Marginal Matching Tianwei Ni Harshit S. Sikchi Yufei Wang Tejus Gupta Lisa Lee Benjamin Eysenbach 13 72 0 09 Nov 2020
NeuralSim: Augmenting Differentiable Simulators with Neural Networks Eric Heiden David Millard Erwin Coumans Yizhou Sheng Gaurav Sukhatme 27 136 0 09 Nov 2020
Dynamics Randomization Revisited:A Case Study for Quadrupedal Locomotion Zhaoming Xie Xingye Da M. van de Panne Buck Babich Animesh Garg 42 86 0 04 Nov 2020
Differentiable Physics Models for Real-world Offline Model-based Reinforcement Learning M. Lutter Johannes Silberbauer Joe Watson Jan Peters OffRL 29 33 0 03 Nov 2020
Sim-to-Real Learning of All Common Bipedal Gaits via Periodic Reward Composition J. Siekmann Yesh Godse Alan Fern J. Hurst 21 153 0 02 Nov 2020
Robust Quadrupedal Locomotion on Sloped Terrains: A Linear Policy Approach Kartik Paigwar L. Krishna Sashank Tirumala Naman Khetan Aditya Sagi Ashish Joglekar S. Bhatnagar A. Ghosal B. Amrutur Shishir Kolathaya 17 17 0 30 Oct 2020
Learning Spring Mass Locomotion: Guiding Policies with a Reduced-Order Model Kevin R. Green Yesh Godse Jeremy Dao Ross L. Hatton Alan Fern J. Hurst 20 43 0 21 Oct 2020
Learning a Contact-Adaptive Controller for Robust, Efficient Legged Locomotion Xingye Da Zhaoming Xie David Hoeller Byron Boots Anima Anandkumar Yuke Zhu Buck Babich Animesh Garg 24 57 0 21 Sep 2020
Safe Active Dynamics Learning and Control: A Sequential Exploration-Exploitation Framework T. Lew Apoorva Sharma James Harrison Andrew Bylard Marco Pavone 28 45 0 26 Aug 2020
Super-Human Performance in Gran Turismo Sport Using Deep Reinforcement Learning Florian Fuchs Yunlong Song Elia Kaufmann Davide Scaramuzza Peter Dürr 26 124 0 18 Aug 2020
A soft robot that adapts to environments through shape change Dylan S. Shah Joshua P. Powers Liana G. Tilton Sam Kriegman Josh Bongard Rebecca Kramer‐Bottiglio 26 143 0 14 Aug 2020
Towards General and Autonomous Learning of Core Skills: A Case Study in Locomotion Roland Hafner Tim Hertweck Philipp Kloppner Michael Bloesch Michael Neunert Markus Wulfmeier S. Tunyasuvunakool N. Heess Martin Riedmiller 31 19 0 06 Aug 2020
Learning Stable Manoeuvres in Quadruped Robots from Expert Demonstrations Sashank Tirumala S. Gubbi Kartik Paigwar Aditya Sagi Ashish Joglekar S. Bhatnagar A. Ghosal B. Amrutur Shishir Kolathaya 25 4 0 28 Jul 2020
Lifelong Incremental Reinforcement Learning with Online Bayesian Inference Zhi Wang Chunlin Chen D. Dong CLL OffRL 23 56 0 28 Jul 2020
Off-Policy Reinforcement Learning for Efficient and Effective GAN Architecture Search Yuan Tian Qin Wang Zhiwu Huang Wen Li Dengxin Dai Minghao Yang Jun Wang Olga Fink OffRL 24 60 0 17 Jul 2020
Data-Driven Multi-Objective Controller Optimization for a Magnetically-Levitated Nanopositioning System Xiaocong Li H. Zhu Jun Ma T. J. Teo C. Teo Masayoshi Tomizuka Tong-heng Lee 41 33 0 06 Jul 2020
Learning dynamics for improving control of overactuated flying systems Weixuan Zhang Maximilian Brunner Lionel Ott Mina Kamel Roland Siegwart Juan I. Nieto 22 11 0 23 Jun 2020
Learning Physical Constraints with Neural Projections Shuqi Yang Xingzhe He Bo Zhu 3DV AI4CE 58 25 0 23 Jun 2020
Decentralized Deep Reinforcement Learning for a Distributed and Adaptive Locomotion Controller of a Hexapod Robot M. Schilling Kai Konen F. Ohl Timo Korthals 26 18 0 21 May 2020
Learning natural locomotion behaviors for humanoid robots using human knowledge Chuanyu Yang Kai Yuan Shuai Heng Taku Komura Zhibin Li 11 38 0 20 May 2020
Smooth Exploration for Robotic Reinforcement Learning Antonin Raffin Jens Kober F. Stulp 32 57 0 12 May 2020
CARL: Controllable Agent with Reinforcement Learning for Quadruped Locomotion Ying-Sheng Luo Jonathan Hans Soeseno Trista Pei-chun Chen Wei-Chao Chen 20 15 0 07 May 2020
Learning Agile Robotic Locomotion Skills by Imitating Animals Xue Bin Peng Erwin Coumans Tingnan Zhang T. Lee Jie Tan Sergey Levine 36 499 0 02 Apr 2020
Environmental Adaptation of Robot Morphology and Control through Real-world Evolution T. Nygaard Charles Patrick Martin David Howard J. Tørresen K. Glette AI4CE 33 24 0 30 Mar 2020
Traversing the Reality Gap via Simulator Tuning J. Collins Ross Brown Jurgen Leitner David Howard 41 14 0 03 Mar 2020
Rapidly Adaptable Legged Robots via Evolutionary Meta-Learning Xingyou Song Yuxiang Yang K. Choromanski Ken Caluwaerts Wenbo Gao Chelsea Finn Jie Tan 119 79 0 02 Mar 2020
Guided Constrained Policy Optimization for Dynamic Quadrupedal Robot Locomotion Siddhant Gangapurwala Alexander L. Mitchell Ioannis Havoutis 27 55 0 22 Feb 2020
Learning to Walk in the Real World with Minimal Human Effort Sehoon Ha P. Xu Zhenyu Tan Sergey Levine Jie Tan 47 169 0 20 Feb 2020
Learning Functionally Decomposed Hierarchies for Continuous Control Tasks with Path Planning Sammy Christen Lukás Jendele Emre Aksan Otmar Hilliges OffRL 35 25 0 14 Feb 2020
Proportional integral derivative controller assisted reinforcement learning for path following by autonomous underwater vehicles Simen Theie Havenstrom Camilla Sterud Adil Rasheed Omer San 28 3 0 03 Feb 2020
Gait Library Synthesis for Quadruped Robots via Augmented Random Search Sashank Tirumala Aditya Sagi Kartik Paigwar Ashish Joglekar S. Bhatnagar A. Ghosal B. Amrutur Shishir Kolathaya 22 6 0 30 Dec 2019
Real-Time Reinforcement Learning Simon Ramstedt C. Pal AI4CE 19 62 0 11 Nov 2019