Learning Quadrupedal Locomotion over Challenging Terrain

21 October 2020

Marco Hutter

Papers citing "Learning Quadrupedal Locomotion over Challenging Terrain"

50 / 236 papers shown

Title
From Data-Fitting to Discovery: Interpreting the Neural Dynamics of Motor Control through Reinforcement Learning Eugene R. Rush Kaushik Jayaram J. Humbert 18 1 0 18 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 39 140 0 26 Apr 2023
Neural Volumetric Memory for Visual Locomotion Control Ruihan Yang Ge Yang Xiaolong Wang 23 53 0 03 Apr 2023
DribbleBot: Dynamic Legged Manipulation in the Wild Yandong Ji G. Margolis Pulkit Agrawal 28 53 0 03 Apr 2023
Two-layer adaptive trajectory tracking controller for quadruped robots on slippery terrains Despina Ekaterini Argiropoulos Dimitrios Papageorgiou Michael Maravgakis Drosakis Drosakis P. Trahanias 24 2 0 03 Apr 2023
Managing power grids through topology actions: A comparative study between advanced rule-based and reinforcement learning agents Malte Lehna J. Viebahn Christoph Scholz Antoine Marot Sven Tomforde 24 19 0 03 Apr 2023
Visual-Policy Learning through Multi-Camera View to Single-Camera View Knowledge Distillation for Robot Manipulation Tasks C. Acar Kuluhan Binici Alp Tekirdag Yan Wu 34 1 0 13 Mar 2023
Learning Bipedal Walking for Humanoids with Current Feedback R. P. Singh Zhaoming Xie P. Gergondet F. Kanehiro 26 29 0 07 Mar 2023
Real-World Humanoid Locomotion with Reinforcement Learning Ilija Radosavovic Tete Xiao Bike Zhang Trevor Darrell Jitendra Malik K. Sreenath 23 124 0 06 Mar 2023
Time-attenuating Twin Delayed DDPG Reinforcement Learning for Trajectory Tracking Control of Quadrotors Boyuan Deng Jian Sun Zhuo Li G. Wang 32 0 0 13 Feb 2023
Variational Integrators and Graph-Based Solvers for Multibody Dynamics in Maximal Coordinates Jan Brüdigam Stefan Sosnowski Zachary Manchester Sandra Hirche AI4CE 11 3 0 12 Feb 2023
AdaptSim: Task-Driven Simulation Adaptation for Sim-to-Real Transfer Allen Z. Ren Hongkai Dai Benjamin Burchfiel Anirudha Majumdar 27 14 0 09 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 27 3 0 07 Feb 2023
DITTO: Offline Imitation Learning with World Models Branton DeMoss Paul Duckworth Nick Hawes Ingmar Posner Ingmar Posner OffRL 21 18 0 06 Feb 2023
Multi-embodiment Legged Robot Control as a Sequence Modeling Problem Chenyi Yu Weinan Zhang H. Lai Zheng Tian L. Kneip Jun Wang 31 15 0 18 Dec 2022
Sim-to-Real Transfer for Quadrupedal Locomotion via Terrain Transformer Hang Lai Weinan Zhang Xialin He Chen Yu Zheng Tian Yong Yu Jun Wang 24 20 0 15 Dec 2022
Single-Level Differentiable Contact Simulation Simon Le Cleac'h Mac Schwager Zachary Manchester Vikas Sindhwani Peter R. Florence Sumeet Singh 31 5 0 13 Dec 2022
Learning Agile Paths from Optimal Control Alex Beaudin Hsiu-Chin Lin 14 0 0 30 Nov 2022
User-Conditioned Neural Control Policies for Mobile Robotics L. Bauersfeld Elia Kaufmann Davide Scaramuzza 23 6 0 22 Nov 2022
Practice Makes Perfect: an iterative approach to achieve precise tracking for legged robots Jingli Cheng Yasser G. Alqaham A. Sanyal Zhenyu Gan 17 4 0 22 Nov 2022
Optimization-Based Control for Dynamic Legged Robots Patrick M. Wensing Michael Posa Yue Hu Adrien Escande Nicolas Mansard Andrea Del Prete 27 139 0 21 Nov 2022
Legged Locomotion in Challenging Terrains using Egocentric Vision Ananye Agarwal Ashish Kumar Jitendra Malik Deepak Pathak 31 204 0 14 Nov 2022
Distributed Data-Driven Predictive Control for Multi-Agent Collaborative Legged Locomotion Randall T. Fawcett Leila Amanzadeh Jeeseop Kim Aaron D. Ames K. Hamed 15 16 0 13 Nov 2022
Learning Modular Robot Locomotion from Demonstrations Julian Whitman Howie Choset 29 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 D. Fox Gavriel State 31 148 0 25 Oct 2022
Weighted Maximum Likelihood for Controller Tuning Angel Romero Shreedhar Govil Gonca Yilmaz Yunlong Song Davide Scaramuzza 41 14 0 20 Oct 2022
Robotic Table Wiping via Reinforcement Learning and Whole-body Trajectory Optimization T. Lew Sumeet Singh M. Prats Jeffrey Bingham Jonathan Weisz ... Fei Xia Peng-Tao Xu Tingnan Zhang Jie Tan Montserrat Gonzalez 32 15 0 19 Oct 2022
Deep Whole-Body Control: Learning a Unified Policy for Manipulation and Locomotion Zipeng Fu Xuxin Cheng Deepak Pathak 19 144 0 18 Oct 2022
Meta Reinforcement Learning for Optimal Design of Legged Robots Álvaro Belmonte-Baeza Joonho Lee Giorgio Valsecchi Marco Hutter 35 17 0 06 Oct 2022
Learning an Efficient Terrain Representation for Haptic Localization of a Legged Robot Damian Sójka Michał R. Nowicki Piotr Skrzypczyñski 20 4 0 29 Sep 2022
Learning Low-Frequency Motion Control for Robust and Dynamic Robot Locomotion Siddhant Gangapurwala Luigi Campanaro Ioannis Havoutis 32 11 0 29 Sep 2022
Backward Reachability Analysis of Neural Feedback Loops: Techniques for Linear and Nonlinear Systems Nicholas Rober Sydney M. Katz Chelsea Sidrane Esen Yel Michael Everett Mykel J. Kochenderfer Jonathan P. How 35 26 0 28 Sep 2022
MultiRoboLearn: An open-source Framework for Multi-robot Deep Reinforcement Learning Junfeng Chen Fuqin Deng Yuan Gao Junjie Hu Xiyue Guo Guanqi Liang Tin Lun Lam 29 7 0 28 Sep 2022
Safe Balancing Control of a Soft Legged Robot R. Jing M. L. Anderson Miguel Ianus-Valdivia Amsal Akber Ali Carmel Majidi Andrew P. Sabelhaus 11 3 0 27 Sep 2022
Advanced Skills by Learning Locomotion and Local Navigation End-to-End Nikita Rudin David Hoeller Marko Bjelonic Marco Hutter 77 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 27 3 0 24 Sep 2022
Recent Approaches for Perceptive Legged Locomotion Hersh Sanghvi 45 0 0 21 Sep 2022
Learning to Exploit Elastic Actuators for Quadruped Locomotion Antonin Raffin D. Seidel Jens Kober Alin Albu-Schäffer João Silvério F. Stulp 18 5 0 15 Sep 2022
Perceptive Locomotion through Nonlinear Model Predictive Control R. Grandia Fabian Jenelten Shao-hua Yang Farbod Farshidian Marco Hutter 24 142 0 17 Aug 2022
Generating a Terrain-Robustness Benchmark for Legged Locomotion: A Prototype via Terrain Authoring and Active Learning Chong Zhang Lizhi Yang 27 3 0 16 Aug 2022
Learning Fast and Precise Pixel-to-Torque Control Steffen Bleher Steve Heim Sebastian Trimpe 27 2 0 03 Aug 2022
Sequence Model Imitation Learning with Unobserved Contexts Gokul Swamy Sanjiban Choudhury J. Andrew Bagnell Zhiwei Steven Wu OffRL 24 25 0 03 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 26 10 0 30 Jul 2022
Learning Bipedal Walking On Planned Footsteps For Humanoid Robots R. P. Singh M. Benallegue M. Morisawa Rafael Cisneros F. Kanehiro 38 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 16 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 29 40 0 21 Jul 2022
World Robot Challenge 2020 -- Partner Robot: A Data-Driven Approach for Room Tidying with Mobile Manipulator T. Matsushima Yukiyasu Noguchi Jumpei Arima Toshiki Aoki Yuki Okita ... Yuki Yamashita Shoichi Seto S. Gu Yusuke Iwasawa Yutaka Matsuo 32 8 0 20 Jul 2022
Dynamic Bipedal Maneuvers through Sim-to-Real Reinforcement Learning Fangzhou Yu Ryan Batke Jeremy Dao J. Hurst Kevin R. Green Alan Fern 21 10 0 16 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 29 18 0 09 Jul 2022
Learning fast and agile quadrupedal locomotion over complex terrain Xu Chang Zhitong Zhang Honglei An Hongxu Ma Qing Wei 25 0 0 02 Jul 2022