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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
Whole-body Humanoid Robot Locomotion with Human Reference Qiang Zhang Peter Cui David Yan Jingkai Sun Yiqun Duan Arthur Zhang Renjing Xu 272 58 0 28 Feb 2024
Learning Emergent Gaits with Decentralized Phase Oscillators: on the role of Observations, Rewards, and Feedback Jenny Zhang Steve Heim Seungmin Jeon Sangbae Kim 234 4 0 13 Feb 2024
Reinforcement Learning for Versatile, Dynamic, and Robust Bipedal Locomotion Control Zhongyu Li Xue Bin Peng Pieter Abbeel Sergey Levine Glen Berseth Koushil Sreenath 262 146 0 30 Jan 2024
Deriving Rewards for Reinforcement Learning from Symbolic Behaviour Descriptions of Bipedal WalkingIEEE Conference on Decision and Control (CDC), 2023 Daniel Harnack Christoph Lüth Lukas Gross Shivesh Kumar Frank Kirchner 116 1 0 16 Dec 2023
Benchmarking the Full-Order Model Optimization Based Imitation in the Humanoid Robot Reinforcement Learning WalkInternational Conference on Advanced Robotics (ICAR), 2023 Ekaterina Chaikovskaya Inna Minashina Vladimir Litvinenko Egor Davydenko Dmitry Makarov Yulia Danik R. Gorbachev 126 3 0 15 Dec 2023
Stoch BiRo: Design and Control of a low cost bipedal robot Gvs Mothish Karthik Rajgopal Ravi Kola Manan Tayal Shishir Kolathaya 170 4 0 11 Dec 2023
Sim-to-Real Learning for Humanoid Box Loco-ManipulationIEEE International Conference on Robotics and Automation (ICRA), 2023 Jeremy Dao Helei Duan Alan Fern 168 50 0 04 Oct 2023
Infer and Adapt: Bipedal Locomotion Reward Learning from Demonstrations via Inverse Reinforcement LearningIEEE International Conference on Robotics and Automation (ICRA), 2023 Chao Liu Zhaoyuan Gu Hanran Wu Deniz Irem Erus Ye Zhao 185 10 0 28 Sep 2023
Template Model Inspired Task Space Learning for Robust Bipedal LocomotionIEEE/RJS International Conference on Intelligent RObots and Systems (IROS), 2023 Guillermo A. Castillo Bowen Weng Shunpeng Yang Wei Zhang Ayonga Hereid 158 23 0 27 Sep 2023
Learning Vision-Based Bipedal Locomotion for Challenging TerrainIEEE International Conference on Robotics and Automation (ICRA), 2023 Helei Duan Bikram Pandit M. S. Gadde Bart Jaap van Marum Jeremy Dao Chanho Kim Alan Fern 234 61 0 26 Sep 2023
HumanMimic: Learning Natural Locomotion and Transitions for Humanoid Robot via Wasserstein Adversarial ImitationIEEE International Conference on Robotics and Automation (ICRA), 2023 Annan Tang Takuma Hiraoka Naoki Hiraoka Fan Shi Kento Kawaharazuka Kunio Kojima K. Okada Masayuki Inaba 337 51 0 25 Sep 2023
From Knowing to Doing: Learning Diverse Motor Skills through Instruction Learning Linqi Ye Jiayi Li Yi Cheng Xianhao Wang Bin Liang Yan Peng 211 8 0 17 Sep 2023
A Survey on Physics Informed Reinforcement Learning: Review and Open ProblemsExpert systems with applications (ESWA), 2023 C. Banerjee Kien Nguyen Clinton Fookes M. Raissi PINN AI4CE 223 25 0 05 Sep 2023
Learning Multiple Gaits within Latent Space for Quadruped Robots Jinze Wu Yuxing Lu Yufei Xue 163 24 0 06 Aug 2023
Benchmarking Potential Based Rewards for Learning Humanoid LocomotionIEEE International Conference on Robotics and Automation (ICRA), 2023 Seungmin Jeon Steve Heim Charles Khazoom Sangbae Kim OffRL 131 25 0 19 Jul 2023
Decentralized Motor Skill Learning for Complex Robotic SystemsIEEE Robotics and Automation Letters (RA-L), 2023 Yanjiang Guo Zheyuan Jiang Yen-Jen Wang Jingyue Gao Jianyu Chen 113 9 0 30 Jun 2023
A Population-Level Analysis of Neural Dynamics in Robust Legged Robots Eugene R. Rush Christoffer Heckman Kaushik Jayaram J. Humbert 152 0 0 27 Jun 2023
RobustNeuralNetworks.jl: a Package for Machine Learning and Data-Driven Control with Certified RobustnessJuliaCon Proceedings (JuliaCon), 2023 Nicholas H. Barbara Max Revay Ruigang Wang Jing Cheng I. Manchester OOD 230 5 0 22 Jun 2023
Language to Rewards for Robotic Skill SynthesisConference on Robot Learning (CoRL), 2023 Wenhao Yu Nimrod Gileadi Chuyuan Fu Sean Kirmani Kuang-Huei Lee ... N. Heess Dorsa Sadigh Jie Tan Yuval Tassa F. Xia LM&Ro 240 351 0 14 Jun 2023
Expanding Versatility of Agile Locomotion through Policy Transitions Using Latent State RepresentationIEEE International Conference on Robotics and Automation (ICRA), 2023 Guilherme Christmann Ying-Sheng Luo Jonathan Hans Soeseno Wei-Chao Chen 145 3 0 14 Jun 2023
SayTap: Language to Quadrupedal LocomotionConference on Robot Learning (CoRL), 2023 Yujin Tang Wenhao Yu Jie Tan Heiga Zen Aleksandra Faust Tatsuya Harada 273 58 0 13 Jun 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 200 75 0 24 May 2023
From Data-Fitting to Discovery: Interpreting the Neural Dynamics of Motor Control through Reinforcement Learning Eugene R. Rush Kaushik Jayaram J. Humbert 134 2 0 18 May 2023
Reinforcement Learning for Legged Robots: Motion Imitation from Model-Based Optimal Control A. Miller Shamel Fahmi Matthew Chignoli Sangbae Kim 132 8 0 18 May 2023
Learning Agile Soccer Skills for a Bipedal Robot with Deep Reinforcement LearningScience Robotics (Sci. Robot.), 2023 Tuomas Haarnoja Ben Moran Guy Lever Sandy H. Huang Dhruva Tirumala ... Andrea Huber N. Hurley F. Nori R. Hadsell N. Heess 366 216 0 26 Apr 2023
Roll-Drop: accounting for observation noise with a single parameterConference on Learning for Dynamics & Control (L4DC), 2023 Luigi Campanaro D. Martini Siddhant Gangapurwala W. Merkt Ioannis Havoutis SyDa 202 5 0 25 Apr 2023
Learning Robust, Agile, Natural Legged Locomotion Skills in the Wild Yikai Wang Zheyuan Jiang Jianyu Chen 183 9 0 21 Apr 2023
Learning Perceptive Bipedal Locomotion over Irregular Terrain B. V. Marum M. Sabatelli Hamidreza Kasaei 125 4 0 14 Apr 2023
Learning Over Contracting and Lipschitz Closed-Loops for Partially-Observed Nonlinear Systems (Extended Version)IEEE Conference on Decision and Control (CDC), 2023 Nicholas H. Barbara Ruigang Wang I. Manchester 173 6 0 12 Apr 2023
DribbleBot: Dynamic Legged Manipulation in the WildIEEE International Conference on Robotics and Automation (ICRA), 2023 Yandong Ji G. Margolis Pulkit Agrawal 188 77 0 03 Apr 2023
Residual Physics Learning and System Identification for Sim-to-real Transfer of Policies on Buoyancy Assisted Legged RobotsIEEE/RJS International Conference on Intelligent RObots and Systems (IROS), 2023 Nitish Sontakke Hosik Chae S. Lee Tianle Huang Dennis W. Hong Sehoon Ha 261 14 0 16 Mar 2023
Learning Multimodal Bipedal Locomotion and Implicit Transitions: A Versatile Policy ApproachIEEE/RJS International Conference on Intelligent RObots and Systems (IROS), 2023 Lokesh Krishna Quan Nguyen 195 2 0 10 Mar 2023
Learning Bipedal Walking for Humanoids with Current FeedbackIEEE Access (IEEE Access), 2023 R. P. Singh Zhaoming Xie P. Gergondet F. Kanehiro 237 33 0 07 Mar 2023
Real-World Humanoid Locomotion with Reinforcement LearningScience Robotics (Sci. Robot.), 2023 Ilija Radosavovic Tete Xiao Bike Zhang Trevor Darrell Jitendra Malik Koushil Sreenath 268 255 0 06 Mar 2023
Impact-Invariant Control: Maximizing Control Authority During Impacts William Yang Michael Posa 239 6 0 01 Mar 2023
Robust and Versatile Bipedal Jumping Control through Reinforcement Learning Zhongyu Li Xue Bin Peng Pieter Abbeel Sergey Levine Glen Berseth Koushil Sreenath 210 64 0 19 Feb 2023
Walk These Ways: Tuning Robot Control for Generalization with Multiplicity of BehaviorConference on Robot Learning (CoRL), 2022 G. Margolis Pulkit Agrawal 208 246 0 06 Dec 2022
Optimization-Based Control for Dynamic Legged RobotsIEEE Transactions on robotics (TRO), 2022 Patrick M. Wensing Michael Posa Yue Hu Adrien Escande Nicolas Mansard Andrea Del Prete 218 209 0 21 Nov 2022
Real-time Trajectory Optimization and Control for Ball Bumping with Quadruped Robots Qiayuan Liao Zhefeng Cao Hua Chen Wei Zhang 128 0 0 11 Oct 2022
Efficient Learning of Locomotion Skills through the Discovery of Diverse Environmental Trajectory Generator PriorsIEEE International Conference on Robotics and Automation (ICRA), 2022 Shikha Surana Bryan Lim Antoine Cully 268 4 0 10 Oct 2022
Learning Bipedal Walking On Planned Footsteps For Humanoid RobotsIEEE-RAS International Conference on Humanoid Robots (Humanoids), 2022 R. P. Singh M. Benallegue M. Morisawa Rafael Cisneros F. Kanehiro 209 30 0 26 Jul 2022
Dynamic Bipedal Maneuvers through Sim-to-Real Reinforcement Learning Fangzhou Yu Ryan Batke Jeremy Dao J. Hurst Kevin R. Green Alan Fern 154 11 0 16 Jul 2022
Optimizing Bipedal Maneuvers of Single Rigid-Body Models for Reinforcement LearningIEEE-RAS International Conference on Humanoid Robots (Humanoids), 2022 Ryan Batke Fang-Yu Yu Jeremy Dao J. Hurst Ross L. Hatton Alan Fern Kevin R. Green 179 23 0 09 Jul 2022
Adapting Rapid Motor Adaptation for Bipedal RobotsIEEE/RJS International Conference on Intelligent RObots and Systems (IROS), 2022 Ashish Kumar Zhongyu Li Jun Zeng Deepak Pathak Koushil Sreenath Jitendra Malik 319 92 0 30 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 Koushil Sreenath 178 20 0 11 May 2022
Learning Dynamic Bipedal Walking Across Stepping StonesIEEE/RJS International Conference on Intelligent RObots and Systems (IROS), 2022 Helei Duan A. Malik M. S. Gadde Jeremy Dao Alan Fern J. Hurst 192 21 0 03 May 2022
Neural Gaits: Learning Bipedal Locomotion via Control Barrier Functions and Zero Dynamics PoliciesConference on Learning for Dynamics & Control (L4DC), 2022 I. D. Rodriguez Noel Csomay-Shanklin Yisong Yue Aaron D. Ames 137 8 0 18 Apr 2022
Sim-to-Real Learning for Bipedal Locomotion Under Unsensed Dynamic LoadsIEEE International Conference on Robotics and Automation (ICRA), 2022 Jeremy Dao Kevin R. Green Helei Duan Alan Fern J. Hurst 120 35 0 09 Apr 2022
Custom Sine Waves Are Enough for Imitation Learning of Bipedal Gaits with Different Styles Qi Wu Chong Zhang Yanchen Liu 157 4 0 08 Apr 2022
Sim-to-Real Transfer of Compliant Bipedal Locomotion on Torque Sensor-Less Gear-Driven HumanoidIEEE-RAS International Conference on Humanoid Robots (Humanoids), 2022 Shimpei Masuda K. Takahashi 181 11 0 08 Apr 2022