RLOC: Terrain-Aware Legged Locomotion using Reinforcement Learning and Optimal Control

5 December 2020

Siddhant Gangapurwala

Papers citing "RLOC: Terrain-Aware Legged Locomotion using Reinforcement Learning and Optimal Control"

30 / 30 papers shown

Title
Reference Free Platform Adaptive Locomotion for Quadrupedal Robots using a Dynamics Conditioned Policy David Rytz Suyoung Choi Wanming Yu W. Merkt Jemin Hwangbo Ioannis Havoutis 20 0 0 21 May 2025
Playful DoggyBot: Learning Agile and Precise Quadrupedal Locomotion Xin Duan Ziwen Zhuang Hang Zhao Soeren Schwertfeger 65 2 0 30 Sep 2024
Residual-MPPI: Online Policy Customization for Continuous Control Pengcheng Wang Chenran Li Catherine Weaver Kenta Kawamoto Masayoshi Tomizuka Chen Tang Wei Zhan OffRL 57 3 0 01 Jul 2024
Deep Reinforcement Learning for Bipedal Locomotion: A Brief Survey Lingfan Bao Josephine N. Humphreys Tianhu Peng Chengxu Zhou 79 7 0 25 Apr 2024
HEROES: Unreal Engine-based Human and Emergency Robot Operation Education System A. Chaudhary Kshitij Tiwari Aniket Bera 25 1 0 25 Sep 2023
SafeSteps: Learning Safer Footstep Planning Policies for Legged Robots via Model-Based Priors Shafeef Omar Lorenzo Amatucci Victor Barasuol Giulio Turrisi Claudio Semini 35 3 0 24 Jul 2023
Quadrupedal Footstep Planning using Learned Motion Models of a Black-Box Controller Ilyass Taouil Giulio Turrisi Daniel Schleich Victor Barasuol Claudio Semini Sven Behnke 42 1 0 23 Jul 2023
Learning robust perceptive locomotion for quadrupedal robots in the wild Takahiro Miki Joonho Lee Jemin Hwangbo Lorenz Wellhausen V. Koltun Marco Hutter 50 696 0 20 Jan 2022
Learning to Walk in Minutes Using Massively Parallel Deep Reinforcement Learning Nikita Rudin David Hoeller Philipp Reist Marco Hutter 161 561 0 24 Sep 2021
Learning Quadrupedal Locomotion over Challenging Terrain Joonho Lee Jemin Hwangbo Lorenz Wellhausen V. Koltun Marco Hutter 59 1,154 0 21 Oct 2020
Learning Agile Robotic Locomotion Skills by Imitating Animals Xue Bin Peng Erwin Coumans Tingnan Zhang T. Lee Jie Tan Sergey Levine 69 502 0 02 Apr 2020
Guided Constrained Policy Optimization for Dynamic Quadrupedal Robot Locomotion Siddhant Gangapurwala Alexander L. Mitchell Ioannis Havoutis 37 55 0 22 Feb 2020
Policies Modulating Trajectory Generators Atil Iscen Ken Caluwaerts Jie Tan Tingnan Zhang Erwin Coumans Vikas Sindhwani Vincent Vanhoucke 34 132 0 07 Oct 2019
DeepGait: Planning and Control of Quadrupedal Gaits using Deep Reinforcement Learning Vassilios Tsounis Mitja Alge Joonho Lee Farbod Farshidian Marco Hutter 40 186 0 18 Sep 2019
Crocoddyl: An Efficient and Versatile Framework for Multi-Contact Optimal Control Carlos Mastalli Rohan Budhiraja W. Merkt Guilhem Saurel Bilal Hammoud M. Naveau Justin Carpentier Ludovic Righetti S. Vijayakumar Nicolas Mansard 28 292 0 11 Sep 2019
Data Efficient Reinforcement Learning for Legged Robots Yuxiang Yang Ken Caluwaerts Atil Iscen Tingnan Zhang Jie Tan Vikas Sindhwani 38 139 0 08 Jul 2019
Feedback MPC for Torque-Controlled Legged Robots R. Grandia Farbod Farshidian René Ranftl Marco Hutter 20 158 0 15 May 2019
Feasible Region: an Actuation-Aware Extension of the Support Region Romeo Orsolino Michele Focchi Stéphane Caron G. Raiola Victor Barasuol Claudio Semini 33 34 0 19 Mar 2019
Learning agile and dynamic motor skills for legged robots Jemin Hwangbo Joonho Lee Alexey Dosovitskiy Dario Bellicoso Vassilios Tsounis V. Koltun Marco Hutter 47 1,294 0 24 Jan 2019
Robust Recovery Controller for a Quadrupedal Robot using Deep Reinforcement Learning Joonho Lee Jemin Hwangbo Marco Hutter 29 87 0 22 Jan 2019
Learning to Walk via Deep Reinforcement Learning Tuomas Haarnoja Sehoon Ha Aurick Zhou Jie Tan George Tucker Sergey Levine 66 435 0 26 Dec 2018
Soft Actor-Critic Algorithms and Applications Tuomas Haarnoja Aurick Zhou Kristian Hartikainen George Tucker Sehoon Ha ... Vikash Kumar Henry Zhu Abhishek Gupta Pieter Abbeel Sergey Levine 88 2,391 0 13 Dec 2018
Feedback Control For Cassie With Deep Reinforcement Learning Zhaoming Xie Glen Berseth Patrick Clary J. Hurst M. van de Panne 42 175 0 15 Mar 2018
Addressing Function Approximation Error in Actor-Critic Methods Scott Fujimoto H. V. Hoof David Meger OffRL 117 5,121 0 26 Feb 2018
Soft Actor-Critic: Off-Policy Maximum Entropy Deep Reinforcement Learning with a Stochastic Actor Tuomas Haarnoja Aurick Zhou Pieter Abbeel Sergey Levine 148 8,236 0 04 Jan 2018
Application of Wrench based Feasibility Analysis to the Online Trajectory Optimization of Legged Robots Romeo Orsolino Michele Focchi Carlos Mastalli Hongkai Dai D. Caldwell Claudio Semini 16 53 0 19 Dec 2017
Proximal Policy Optimization Algorithms John Schulman Filip Wolski Prafulla Dhariwal Alec Radford Oleg Klimov OffRL 179 18,685 0 20 Jul 2017
Domain Randomization for Transferring Deep Neural Networks from Simulation to the Real World Joshua Tobin Rachel Fong Alex Ray Jonas Schneider Wojciech Zaremba Pieter Abbeel 85 2,948 0 20 Mar 2017
Continuous control with deep reinforcement learning Timothy Lillicrap Jonathan J. Hunt Alexander Pritzel N. Heess Tom Erez Yuval Tassa David Silver Daan Wierstra 102 13,174 0 09 Sep 2015
Trust Region Policy Optimization John Schulman Sergey Levine Philipp Moritz Michael I. Jordan Pieter Abbeel 206 6,722 0 19 Feb 2015