Learning Quadrupedal Locomotion over Challenging Terrain

21 October 2020

Marco Hutter

Papers citing "Learning Quadrupedal Locomotion over Challenging Terrain"

50 / 236 papers shown

Title
PIP-Loco: A Proprioceptive Infinite Horizon Planning Framework for Quadrupedal Robot Locomotion Aditya Shirwatkar Naman Saxena Kishore Chandra Shishir Kolathaya 43 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 31 2 0 13 Sep 2024
Learning Multi-Modal Whole-Body Control for Real-World Humanoid Robots Pranay Dugar Aayam Shrestha Fangzhou Yu Bart Jaap van Marum Alan Fern 34 10 0 30 Jul 2024
Automatic Environment Shaping is the Next Frontier in RL Younghyo Park G. Margolis Pulkit Agrawal OffRL 37 3 0 23 Jul 2024
RoboMorph: Evolving Robot Morphology using Large Language Models Kevin Qiu Krzysztof Ciebiera Krzysztof Ciebiera Marek Cygan Marek Cygan Łukasz Kuciński LM&Ro 49 0 0 11 Jul 2024
Simultaneous System Identification and Model Predictive Control with No Dynamic Regret Hongyu Zhou Vasileios Tzoumas 90 4 0 04 Jul 2024
Text2Robot: Evolutionary Robot Design from Text Descriptions Ryan P. Ringel Zachary S. Charlick Jiaxun Liu Boxi Xia Boyuan Chen 58 2 0 28 Jun 2024
SLR: Learning Quadruped Locomotion without Privileged Information Shiyi Chen Zeyu Wan Shiyang Yan Chun Zhang Weiyi Zhang Qiang Li Debing Zhang F. Farrukh 37 4 0 07 Jun 2024
Deep SE(3)-Equivariant Geometric Reasoning for Precise Placement Tasks Ben Eisner Yi Yang Todor Davchev Mel Vecerík Jonathan Scholz David Held 34 10 0 20 Apr 2024
WROOM: An Autonomous Driving Approach for Off-Road Navigation Dvij Kalaria Shreya Sharma Sarthak Bhagat Haoru Xue John M. Dolan 37 1 0 12 Apr 2024
Agile and versatile bipedal robot tracking control through reinforcement learning Jiayi Li Linqi Ye Yi Cheng Houde Liu Bin Liang 36 1 0 12 Apr 2024
Body Design and Gait Generation of Chair-Type Asymmetrical Tripedal Low-rigidity Robot Shintaro Inoue Kento Kawaharazuka K. Okada Masayuki Inaba 29 2 0 09 Apr 2024
Humanoid-Gym: Reinforcement Learning for Humanoid Robot with Zero-Shot Sim2Real Transfer Xinyang Gu Yen-Jen Wang Jianyu Chen 34 34 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 K. Sreenath Yi Wu 49 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 K. Sreenath M. Tomizuka 71 3 0 29 Mar 2024
Leveraging Symmetry in RL-based Legged Locomotion Control Zhi Su Xiaoyu Huang Daniel Felipe Ordoñez Apraez Yunfei Li Zhongyu Li ... Giulio Turrisi Massimiliano Pontil Claudio Semini Yi Wu K. Sreenath 39 14 0 26 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 32 4 0 24 Mar 2024
Expert Composer Policy: Scalable Skill Repertoire for Quadruped Robots Guilherme Christmann Ying-Sheng Luo Wei-Chao Chen 32 0 0 18 Mar 2024
Morphological Symmetries in Robotics Daniel Felipe Ordoñez Apraez Giulio Turrisi Vladimir Kostic Mario Martin Antonio Agudo Francesc Moreno-Noguer Massimiliano Pontil Claudio Semini Carlos Mastalli AI4CE 37 6 0 23 Feb 2024
ACE : Off-Policy Actor-Critic with Causality-Aware Entropy Regularization Tianying Ji Yongyuan Liang Yan Zeng Yu-Juan Luo Guowei Xu Jiawei Guo Ruijie Zheng Furong Huang Gang Hua Huazhe Xu CML 48 11 0 22 Feb 2024
FLD: Fourier Latent Dynamics for Structured Motion Representation and Learning Chenhao Li Elijah Stanger-Jones Steve Heim Sangbae Kim 41 9 0 21 Feb 2024
Distilling Morphology-Conditioned Hypernetworks for Efficient Universal Morphology Control Zheng Xiong Risto Vuorio Jacob Beck Matthieu Zimmer Kun Shao Shimon Whiteson 39 1 0 09 Feb 2024
Curriculum-Based Reinforcement Learning for Quadrupedal Jumping: A Reference-free Design Vassil Atanassov Jiatao Ding Jens Kober Ioannis Havoutis Cosimo Della Santina 23 8 0 29 Jan 2024
General-purpose foundation models for increased autonomy in robot-assisted surgery Samuel Schmidgall Ji Woong Kim Alan Kuntz A. Ghazi Axel Krieger MedIm 46 9 0 01 Jan 2024
Adaptive Control Strategy for Quadruped Robots in Actuator Degradation Scenarios Xinyuan Wu Wentao Dong Hang Lai Yong Yu Ying Wen 22 2 0 29 Dec 2023
Actuator-Constrained Reinforcement Learning for High-Speed Quadrupedal Locomotion Young-Ha Shin Tae-Gyu Song Gwanghyeon Ji Hae-Won Park 22 4 0 29 Dec 2023
Multi-Agent Reinforcement Learning for Connected and Automated Vehicles Control: Recent Advancements and Future Prospects Min Hua Dong Chen Xinda Qi Kun Jiang Z. Liu Quan Zhou Hongming Xu 23 10 0 18 Dec 2023
An Invitation to Deep Reinforcement Learning Bernhard Jaeger Andreas Geiger OffRL OOD 78 5 0 13 Dec 2023
Learning Agile Locomotion and Adaptive Behaviors via RL-augmented MPC Lydia Y. Chen Quan Nguyen 18 9 0 13 Oct 2023
Words into Action: Learning Diverse Humanoid Robot Behaviors using Language Guided Iterative Motion Refinement K. N. Kumar Irfan Essa Sehoon Ha 24 6 0 10 Oct 2023
An Open-Loop Baseline for Reinforcement Learning Locomotion Tasks Antonin Raffin Olivier Sigaud Jens Kober Alin Albu-Schäffer João Silvério F. Stulp 32 2 0 09 Oct 2023
Extreme Parkour with Legged Robots Xuxin Cheng Kexin Shi Ananye Agarwal Deepak Pathak 28 148 0 25 Sep 2023
Learning Risk-Aware Quadrupedal Locomotion using Distributional Reinforcement Learning Lukas Schneider Jonas Frey Takahiro Miki Marco Hutter 30 9 0 25 Sep 2023
HEROES: Unreal Engine-based Human and Emergency Robot Operation Education System A. Chaudhary Kshitij Tiwari Aniket Bera 15 1 0 25 Sep 2023
H2O+: An Improved Framework for Hybrid Offline-and-Online RL with Dynamics Gaps Haoyi Niu Tianying Ji Bingqi Liu Haocheng Zhao Xiangyu Zhu Jianying Zheng Pengfei Huang Guyue Zhou Jianming Hu Xianyuan Zhan OffRL OnRL AI4CE 27 6 0 22 Sep 2023
ARTEMIS: AI-driven Robotic Triage Labeling and Emergency Medical Information System Revanth Krishna Senthilkumaran Mridu Prashanth Hrishikesh Viswanath Sathvika Kotha Kshitij Tiwari Aniket Bera 17 2 0 16 Sep 2023
UnifiedGesture: A Unified Gesture Synthesis Model for Multiple Skeletons Sicheng Yang Z. Wang Zhiyong Wu Minglei Li Zhensong Zhang ... Lei Hao Songcen Xu Xiaofei Wu Changpeng Yang Zonghong Dai DiffM 44 14 0 13 Sep 2023
Efficient Reinforcement Learning for Jumping Monopods Riccardo Bussola Michele Focchi Andrea Del Prete Daniele Fontanelli Luigi Palopoli 39 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 27 17 0 06 Sep 2023
Learning Whole-body Manipulation for Quadrupedal Robot S. Jeon Moonkyu Jung Suyoung Choi Beomjoon Kim Jemin Hwangbo 18 28 0 31 Aug 2023
Large Language Models and Foundation Models in Smart Agriculture: Basics, Opportunities, and Challenges Jiajia Li Mingle Xu Lirong Xiang Dong Chen Weichao Zhuang Xunyuan Yin Zhao Li 36 3 0 13 Aug 2023
Scientific Exploration of Challenging Planetary Analog Environments with a Team of Legged Robots Philip Arm Gabriel Waibel Jan Preisig Turcan Tuna Ruyi Zhou ... G. Ligeza Takahiro Miki F. Kehl H. Kolvenbach Marco Hutter 25 62 0 19 Jul 2023
Multi-Stage Cable Routing through Hierarchical Imitation Learning Jianlan Luo Charles Xu Xinyang Geng Gilbert Feng Kuan Fang L. Tan S. Schaal Sergey Levine 38 52 0 18 Jul 2023
Combining model-predictive control and predictive reinforcement learning for stable quadrupedal robot locomotion Vyacheslav Kovalev Anna Shkromada H. Ouerdane Pavel Osinenko 16 2 0 15 Jul 2023
Traversability Analysis for Autonomous Driving in Complex Environment: A LiDAR-based Terrain Modeling Approach Hanzhang Xue Hao Fu Liang Xiao Yiming Fan Dawei Zhao Bin Dai 32 21 0 05 Jul 2023
Actor-Critic Model Predictive Control Angel Romero Yunlong Song Davide Scaramuzza 41 35 0 16 Jun 2023
Simplified Temporal Consistency Reinforcement Learning Yi Zhao Wenshuai Zhao Rinu Boney Arno Solin Joni Pajarinen OffRL 30 12 0 15 Jun 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 29 32 0 29 May 2023
On the Value of Myopic Behavior in Policy Reuse Kang Xu Chenjia Bai Shuang Qiu Haoran He Bin Zhao Zhen Wang Wei Li Xuelong Li 26 1 0 28 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 27 59 0 24 May 2023