Learning Quadrupedal Locomotion over Challenging Terrain

21 October 2020

Marco Hutter

Papers citing "Learning Quadrupedal Locomotion over Challenging Terrain"

50 / 236 papers shown

Title
DayDreamer: World Models for Physical Robot Learning Philipp Wu Alejandro Escontrela Danijar Hafner Ken Goldberg Pieter Abbeel 47 277 0 28 Jun 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 32 21 0 28 Jun 2022
Imitate then Transcend: Multi-Agent Optimal Execution with Dual-Window Denoise PPO Jin Fang Jiacheng Weng Yi Xiang Xinwen Zhang OffRL 14 2 0 21 Jun 2022
Neural Scene Representation for Locomotion on Structured Terrain David Hoeller Nikita Rudin Chris Choy Anima Anandkumar Marco Hutter 27 32 0 16 Jun 2022
Automated Dynamic Algorithm Configuration Steven Adriaensen André Biedenkapp Gresa Shala Noor H. Awad Theresa Eimer Marius Lindauer Frank Hutter 32 36 0 27 May 2022
Chain of Thought Imitation with Procedure Cloning Mengjiao Yang Dale Schuurmans Pieter Abbeel Ofir Nachum OffRL 30 29 0 22 May 2022
Neural-Fly Enables Rapid Learning for Agile Flight in Strong Winds Michael O'Connell Guanya Shi Xichen Shi Kamyar Azizzadenesheli Anima Anandkumar Yisong Yue Soon-Jo Chung 75 169 0 13 May 2022
Bridging Model-based Safety and Model-free Reinforcement Learning through System Identification of Low Dimensional Linear Models Zhongyu Li Jun Zeng A. Thirugnanam K. Sreenath 24 16 0 11 May 2022
Learning to Guide Multiple Heterogeneous Actors from a Single Human Demonstration via Automatic Curriculum Learning in StarCraft II Nicholas R. Waytowich James Z. Hare Vinicius G. Goecks Mark R. Mittrick John Richardson Anjon Basak Derrik E. Asher 22 2 0 11 May 2022
Factory: Fast Contact for Robotic Assembly Yashraj S. Narang Kier Storey Iretiayo Akinola Miles Macklin Philipp Reist ... Ádám Moravánszky Gavriel State Michelle Lu Ankur Handa D. Fox 32 74 0 07 May 2022
Rapid Locomotion via Reinforcement Learning G. Margolis Ge Yang Kartik Paigwar Tao Chen Pulkit Agrawal 35 226 0 05 May 2022
Human Motion Control of Quadrupedal Robots using Deep Reinforcement Learning Sunwoo Kim Maks Sorokin Jehee Lee Sehoon Ha 36 14 0 28 Apr 2022
Adaptive actuation of magnetic soft robots using deep reinforcement learning Jianpeng Yao Quanliang Cao Yuwei Ju Yuxuan Sun Ruiqi Liu Xiaotao Han Liang Li AI4CE 20 23 0 25 Apr 2022
A Survey of Traversability Estimation for Mobile Robots Christos Sevastopoulos S. Konstantopoulos 43 34 0 22 Apr 2022
Gradient-Based Trajectory Optimization With Learned Dynamics Bhavya Sukhija Nathanael Kohler Miguel Zamora Simon Zimmermann Sebastian Curi Andreas Krause Stelian Coros 28 9 0 09 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 23 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 32 51 0 31 Mar 2022
Adversarial Motion Priors Make Good Substitutes for Complex Reward Functions Alejandro Escontrela Xue Bin Peng Wenhao Yu Tingnan Zhang Atil Iscen Ken Goldberg Pieter Abbeel 11 112 0 28 Mar 2022
Learning Minimum-Time Flight in Cluttered Environments Robert Pěnička Yunlong Song Elia Kaufmann Davide Scaramuzza 21 50 0 28 Mar 2022
MetaMorph: Learning Universal Controllers with Transformers Agrim Gupta Linxi Fan Surya Ganguli Li Fei-Fei LM&Ro 11 86 0 22 Mar 2022
Meta-Reinforcement Learning for the Tuning of PI Controllers: An Offline Approach Daniel G. McClement Nathan P. Lawrence Johan U. Backstrom Philip D. Loewen M. Forbes R. Bhushan Gopaluni OffRL 11 22 0 17 Mar 2022
DARA: Dynamics-Aware Reward Augmentation in Offline Reinforcement Learning Jinxin Liu Hongyin Zhang Donglin Wang OffRL 24 32 0 13 Mar 2022
Context is Everything: Implicit Identification for Dynamics Adaptation Ben Evans Abitha Thankaraj Lerrel Pinto 39 20 0 10 Mar 2022
Robot Learning of Mobile Manipulation with Reachability Behavior Priors Snehal Jauhri Jan Peters Georgia Chalvatzaki 18 45 0 08 Mar 2022
Safe Reinforcement Learning for Legged Locomotion Tsung-Yen Yang Tingnan Zhang Linda Luu Sehoon Ha Jie Tan Wenhao Yu 21 40 0 05 Mar 2022
Dojo: A Differentiable Physics Engine for Robotics Taylor A. Howell Simon Le Cleac'h Jan Brüdigam J. Zico Kolter Mac Schwager Zachary Manchester 21 34 0 02 Mar 2022
Learning Robust Real-Time Cultural Transmission without Human Data Cultural General Intelligence Team Avishkar Bhoopchand Bethanie Brownfield Adrian Collister Agustin Dal Lago ... Alex Platonov Evan Senter Sukhdeep Singh Alexander Zacherl Lei M. Zhang VLM 42 11 0 01 Mar 2022
Reinforcement Learning in Practice: Opportunities and Challenges Yuxi Li OffRL 36 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 11 137 0 11 Feb 2022
The need for and feasibility of alternative ground robots to traverse sandy and rocky extraterrestrial terrain Chen Li K. Lewis 14 12 0 28 Jan 2022
Quadruped Capturability and Push Recovery via a Switched-Systems Characterization of Dynamic Balance Hua Chen Zejun Hong Shunpeng Yang Patrick M. Wensing Wei Zhang 21 16 0 28 Jan 2022
GoSafeOpt: Scalable Safe Exploration for Global Optimization of Dynamical Systems Bhavya Sukhija M. Turchetta David Lindner Andreas Krause Sebastian Trimpe Dominik Baumann 31 17 0 24 Jan 2022
BiConMP: A Nonlinear Model Predictive Control Framework for Whole Body Motion Planning Avadesh Meduri Paarth Shah Julian Viereck Majid Khadiv Ioannis Havoutis Ludovic Righetti 17 73 0 19 Jan 2022
CERBERUS: Autonomous Legged and Aerial Robotic Exploration in the Tunnel and Urban Circuits of the DARPA Subterranean Challenge Marco Tranzatto Frank Mascarich Lukas Bernreiter C. Godinho Marco Camurri ... Marco Hutter Roland Siegwart M. Mueller Maurice F. Fallon Kostas Alexis 23 108 0 18 Jan 2022
ValueNetQP: Learned one-step optimal control for legged locomotion Julian Viereck Avadesh Meduri Ludovic Righetti 9 8 0 11 Jan 2022
An Efficient Locally Reactive Controller for Safe Navigation in Visual Teach and Repeat Missions Matías Mattamala Nived Chebrolu Maurice F. Fallon 15 24 0 11 Jan 2022
Automated Reinforcement Learning (AutoRL): A Survey and Open Problems Jack Parker-Holder Raghunandan Rajan Xingyou Song André Biedenkapp Yingjie Miao ... Vu-Linh Nguyen Roberto Calandra Aleksandra Faust Frank Hutter Marius Lindauer AI4CE 33 100 0 11 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 28 68 0 11 Jan 2022
Invariance Through Latent Alignment Takuma Yoneda Ge Yang Matthew R. Walter Bradly C. Stadie OOD 21 9 0 15 Dec 2021
Learning multiple gaits of quadruped robot using hierarchical reinforcement learning Yunho Kim Bukun Son Dongjun Lee 13 8 0 09 Dec 2021
Deep Reinforcement Learning with Shallow Controllers: An Experimental Application to PID Tuning Nathan P. Lawrence M. Forbes Philip D. Loewen Daniel G. McClement Johan U. Backstrom R. Bhushan Gopaluni OffRL 17 71 0 13 Nov 2021
d3rlpy: An Offline Deep Reinforcement Learning Library Takuma Seno M. Imai OffRL GP 60 100 0 06 Nov 2021
A System for General In-Hand Object Re-Orientation Tao Chen Jie Xu Pulkit Agrawal 36 250 0 04 Nov 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 24 3 0 04 Nov 2021
Is Bang-Bang Control All You Need? Solving Continuous Control with Bernoulli Policies Tim Seyde Igor Gilitschenski Wilko Schwarting Bartolomeo Stellato Martin Riedmiller Markus Wulfmeier Daniela Rus 26 44 0 03 Nov 2021
Learning to Jump from Pixels G. Margolis Tao Chen Kartik Paigwar Xiang Fu Donghyun Kim Sangbae Kim Pulkit Agrawal 46 82 0 28 Oct 2021
An Adaptable Approach to Learn Realistic Legged Locomotion without Examples Daniel Felipe Ordoñez Apraez Antonio Agudo Francesc Moreno-Noguer Mario Martin 44 8 0 28 Oct 2021
Minimizing Energy Consumption Leads to the Emergence of Gaits in Legged Robots Zipeng Fu Ashish Kumar Jitendra Malik Deepak Pathak 22 115 0 25 Oct 2021
Seeing biodiversity: perspectives in machine learning for wildlife conservation D. Tuia B. Kellenberger Sara Beery Blair R. Costelloe Silvia Zuffi ... I. Couzin Grant Van Horn M. Crofoot Chuck Stewart T. Berger-Wolf 33 392 0 25 Oct 2021
Policy Search using Dynamic Mirror Descent MPC for Model Free Off Policy RL Aarush Gupta 23 0 0 23 Oct 2021