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Sim-to-Real Learning of All Common Bipedal Gaits via Periodic Reward Composition

IEEE International Conference on Robotics and Automation (ICRA), 2020

2 November 2020

Papers citing "Sim-to-Real Learning of All Common Bipedal Gaits via Periodic Reward Composition"

50 / 116 papers shown

Title
Sim-to-Real Transfer in Deep Reinforcement Learning for Bipedal Locomotion Lingfan Bao Tianhu Peng Chengxu Zhou 82 0 0 09 Nov 2025
Periodic Skill Discovery Jonghae Park Daesol Cho Jusuk Lee D. Shim Inkyu Jang H. J. Kim 240 0 0 05 Nov 2025
Heuristic Step Planning for Learning Dynamic Bipedal Locomotion: A Comparative Study of Model-Based and Model-Free Approaches William Suliman Ekaterina Chaikovskaia Egor Davydenko R. Gorbachev 79 0 0 02 Nov 2025
NaviGait: Navigating Dynamically Feasible Gait Libraries using Deep Reinforcement Learning Neil C. Janwani Varun Madabushi Maegan Tucker 85 0 0 13 Oct 2025
Towards Dynamic Quadrupedal Gaits: A Symmetry-Guided RL Hierarchy Enables Free Gait Transitions at Varying Speeds Jiayu Ding Xulin Chen Garrett E. Katz Zhenyu Gan 50 0 0 12 Oct 2025
DexNDM: Closing the Reality Gap for Dexterous In-Hand Rotation via Joint-Wise Neural Dynamics Model Xueyi Liu He Wang Li Yi 68 1 0 09 Oct 2025
LocoFormer: Generalist Locomotion via Long-context Adaptation Min Liu Deepak Pathak Ananye Agarwal 108 0 0 28 Sep 2025
RobotDancing: Residual-Action Reinforcement Learning Enables Robust Long-Horizon Humanoid Motion Tracking Zhenguo Sun Yibo Peng Y. Meng Xukun Li Bo-Sheng Huang Zhenshan Bing Xinlong Wang Alois C. Knoll 128 0 0 25 Sep 2025
HuMam: Humanoid Motion Control via End-to-End Deep Reinforcement Learning with Mamba Yinuo Wang Yuanyang Qi Jinzhao Zhou Gavin Tao Mamba 123 0 0 22 Sep 2025
Contrastive Representation Learning for Robust Sim-to-Real Transfer of Adaptive Humanoid Locomotion Yidan Lu Rurui Yang Qiran Kou Mengting Chen Tao Fan Peter Cui Yinzhao Dong Peng Lu 104 1 0 16 Sep 2025
Non-conflicting Energy Minimization in Reinforcement Learning based Robot Control Skand Peri Akhil Perincherry Bikram Pandit Stefan Lee 96 0 0 01 Sep 2025
MASH: Cooperative-Heterogeneous Multi-Agent Reinforcement Learning for Single Humanoid Robot Locomotion Qi Liu Xiaopeng Zhang Mingshan Tan Shuaikang Ma Jinliang Ding Yanjie Li 84 1 0 14 Aug 2025
Achieving Precise and Reliable Locomotion with Differentiable Simulation-Based System Identification Vyacheslav Kovalev Ekaterina Chaikovskaia Egor Davydenko R. Gorbachev 72 0 0 06 Aug 2025
Optimizing Bipedal Locomotion for The 100m Dash With Comparison to Human RunningIEEE International Conference on Robotics and Automation (ICRA), 2023 Devin Crowley Jeremy Dao Helei Duan Kevin R. Green J. Hurst Alan Fern 98 30 0 05 Aug 2025
In-between Motion Generation Based Multi-Style Quadruped Robot Locomotion Yuanhao Chen Liu Zhao Ji Ma Peng Lu 148 1 0 30 Jul 2025
Integrating Diffusion-based Multi-task Learning with Online Reinforcement Learning for Robust Quadruped Robot Control Xinyao Qin Xiaoteng Ma Yang Qi Qihan Liu Chuanyi Xue Ning Gui Qinyu Dong Jun Yang Bin Liang 179 1 0 08 Jul 2025
Booster Gym: An End-to-End Reinforcement Learning Framework for Humanoid Robot Locomotion Yushi Wang Penghui Chen Xinyu Han Feng Wu Mingguo Zhao OffRL 146 7 0 18 Jun 2025
Periodic Bipedal Gait Learning Using Reward Composition Based on a Novel Gait Planner for Humanoid Robots Bolin Li Linwei Sun Xuecong Huang Yuzhi Jiang Lijun Zhu 111 0 0 10 Jun 2025
Versatile Loco-Manipulation through Flexible Interlimb Coordination Xinghao Zhu Yuxin Chen Lingfeng Sun Farzad Niroui Simon Le Cleac'h Jiuguang Wang Kuan Fang 263 5 0 09 Jun 2025
Gait-Conditioned Reinforcement Learning with Multi-Phase Curriculum for Humanoid Locomotion Tianhu Peng Lingfan Bao Chengxu Zhou 295 3 0 27 May 2025
Robust Humanoid Walking on Compliant and Uneven Terrain with Deep Reinforcement LearningIEEE-RAS International Conference on Humanoid Robots (Humanoids), 2024 R. P. Singh M. Morisawa M. Benallegue Zhaoming Xie F. Kanehiro 304 5 0 18 Apr 2025
PPF: Pre-training and Preservative Fine-tuning of Humanoid Locomotion via Model-Assumption-based RegularizationIEEE Robotics and Automation Letters (IEEE RA-L), 2025 Hyunyoung Jung Zhaoyuan Gu Ye Zhao Hae-Won Park Sehoon Ha 270 0 0 14 Apr 2025
Spectral Normalization for Lipschitz-Constrained Policies on Learning Humanoid Locomotion Jaeyong Shin Woohyun Cha Donghyeon Kim Junhyeok Cha Jaeheung Park 207 2 0 11 Apr 2025
Sim-to-Real of Humanoid Locomotion Policies via Joint Torque Space Perturbation Injection Woohyun Cha Junhyeok Cha Jaeyong Shin Donghyeon Kim Jaeheung Park 254 2 0 09 Apr 2025
LiPS: Large-Scale Humanoid Robot Reinforcement Learning with Parallel-Series Structures Qiang Zhang Gang Han Jingkai Sun Wen Zhao Jiahang Cao Jiaxu Wang Hao-Ran Cheng Li Zhang Yijie Guo Zhanchen Zhu AI4CE 261 4 0 11 Mar 2025
Distillation-PPO: A Novel Two-Stage Reinforcement Learning Framework for Humanoid Robot Perceptive Locomotion Qiang Zhang Gang Han Jingkai Sun Wen Zhao Chenghao Sun Jiahang Cao Jiaxu Wang Yijie Guo Zhanchen Zhu 293 10 0 11 Mar 2025
Trinity: A Modular Humanoid Robot AI System Jingkai Sun Qiang Zhang Gang Han Wen Zhao Zhe Yong Yan He Jiaxu Wang Jiahang Cao Yijie Guo Zhanchen Zhu 208 3 0 11 Mar 2025
Music-Driven Legged Robots: Synchronized Walking to Rhythmic BeatsIEEE International Conference on Robotics and Automation (ICRA), 2025 Taixian Hou Yueqi Zhang Xiaoyi Wei Zhiyan Dong Jiafu Yi Peng Zhai Lihua Zhang 188 0 0 06 Mar 2025
Design and Control of a Bipedal Robotic Character Ruben Grandia Espen Knoop Michael A. Hopkins Georg Wiedebach Jared Bishop Steven Pickles David Müller Moritz Bächer 321 27 0 10 Jan 2025
Learning Humanoid Locomotion over Challenging Terrain Ilija Radosavovic Sarthak Kamat Trevor Darrell Jitendra Malik 166 32 0 04 Oct 2024
A Learning Framework for Diverse Legged Robot Locomotion Using Barrier-Based Style RewardsIEEE International Conference on Robotics and Automation (ICRA), 2024 Gijeong Kim Yong-Hoon Lee Hae-Won Park 369 9 0 24 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 372 3 0 13 Sep 2024
Learning Skateboarding for Humanoid Robots through Massively Parallel Reinforcement Learning William Thibault Vidyasagar Rajendran William Melek Katja Mombaur 163 1 0 12 Sep 2024
Advancing Humanoid Locomotion: Mastering Challenging Terrains with Denoising World Model Learning Xinyang Gu Yen-Jen Wang Xiang Zhu Chengming Shi Yanjiang Guo Yichen Liu Jianyu Chen 216 91 0 26 Aug 2024
Berkeley Humanoid: A Research Platform for Learning-based Control Qiayuan Liao Bike Zhang Xuanyu Huang Xiaoyu Huang Zhongyu Li Koushil Sreenath 283 44 0 31 Jul 2024
Learning Multi-Modal Whole-Body Control for Real-World Humanoid Robots Pranay Dugar Aayam Shrestha Fangzhou Yu Bart Jaap van Marum Alan Fern 316 19 0 30 Jul 2024
Learning Velocity-based Humanoid Locomotion: Massively Parallel Learning with Brax and MJX William Thibault William Melek Katja Mombaur 280 2 0 06 Jul 2024
Learning Bipedal Walking on a Quadruped Robot via Adversarial Motion Priors Tianhu Peng Lingfan Bao Joseph Humphreys Andromachi Maria Delfaki Dimitrios Kanoulas Chengxu Zhou 178 7 0 02 Jul 2024
QuadrupedGPT: Towards a Versatile Quadruped Agent in Open-ended Worlds Ye Wang Yuting Mei Sipeng Zheng Qin Jin LRM 294 9 0 24 Jun 2024
HumanPlus: Humanoid Shadowing and Imitation from HumansConference on Robot Learning (CoRL), 2024 Zipeng Fu Qingqing Zhao Qi Wu Gordon Wetzstein Chelsea Finn SyDa 309 202 0 15 Jun 2024
OmniH2O: Universal and Dexterous Human-to-Humanoid Whole-Body Teleoperation and Learning Tairan He Zhengyi Luo Xialin He Wenli Xiao Chong Zhang Weinan Zhang Kris Kitani Changliu Liu Guanya Shi 262 179 0 13 Jun 2024
Learning-based legged locomotion; state of the art and future perspectives Sehoon Ha Joonho Lee M. van de Panne Zhaoming Xie Wenhao Yu Majid Khadiv 292 22 0 03 Jun 2024
Learning Generic and Dynamic Locomotion of Humanoids Across Discrete Terrains Shangqun Yu Nisal Perera Daniel Marew Donghyun Kim 287 5 0 27 May 2024
Rethinking Robustness Assessment: Adversarial Attacks on Learning-based Quadrupedal Locomotion Controllers Fan Shi Chong Zhang Takahiro Miki Joonho Lee Marco Hutter Stelian Coros AAML 315 28 0 21 May 2024
Revisiting Reward Design and Evaluation for Robust Humanoid Standing and Walking Bart Jaap van Marum Aayam Shrestha Helei Duan Pranay Dugar Jeremy Dao Alan Fern 310 29 0 30 Apr 2024
Deep Reinforcement Learning for Bipedal Locomotion: A Brief Survey Lingfan Bao Josephine N. Humphreys Tianhu Peng Chengxu Zhou 418 11 0 25 Apr 2024
Lipschitz-Regularized Critics Lead to Policy Robustness Against Transition Dynamics Uncertainty Xulin Chen Ruipeng Liu Garret E. Katz Garrett E. Katz 275 0 0 22 Apr 2024
Humanoid-Gym: Reinforcement Learning for Humanoid Robot with Zero-Shot Sim2Real Transfer Xinyang Gu Yen-Jen Wang Jianyu Chen 277 76 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 Koushil Sreenath Masayoshi Tomizuka 285 5 0 29 Mar 2024
Toward Understanding Key Estimation in Learning Robust Humanoid LocomotionIEEE/RJS International Conference on Intelligent RObots and Systems (IROS), 2024 Zhicheng Wang Wandi Wei Ruiqi Yu Jun Wu Qiuguo Zhu 160 12 0 09 Mar 2024