Imitation Learning from MPC for Quadrupedal Multi-Gait Control

Imitation Learning from MPC for Quadrupedal Multi-Gait Control

26 March 2021

Alexander Reske

Farbod Farshidian

Marco Hutter

Papers citing "Imitation Learning from MPC for Quadrupedal Multi-Gait Control"

15 / 15 papers shown

Title
GRoQ-LoCO: Generalist and Robot-agnostic Quadruped Locomotion Control using Offline Datasets Narayanan PP Sarvesh Prasanth Venkatesan Srinivas Kantha Reddy Shishir Kolathaya OffRL 39 0 0 16 May 2025
ES-Parkour: Advanced Robot Parkour with Bio-inspired Event Camera and Spiking Neural Network Qiang Zhang Jiahang Cao Jingkai Sun Yecheng Shao Gang Han Wen Zhao Yijie Guo Renjing Xu 85 0 0 13 Mar 2025
Learning Agile Robotic Locomotion Skills by Imitating Animals Xue Bin Peng Erwin Coumans Tingnan Zhang T. Lee Jie Tan Sergey Levine 94 502 0 02 Apr 2020
Learning by Cheating Dian Chen Brady Zhou V. Koltun Philipp Krahenbuhl SSL 72 509 0 27 Dec 2019
Policies Modulating Trajectory Generators Atil Iscen Ken Caluwaerts Jie Tan Tingnan Zhang Erwin Coumans Vikas Sindhwani Vincent Vanhoucke 37 132 0 07 Oct 2019
MPC-Net: A First Principles Guided Policy Search Jan Carius Farbod Farshidian Marco Hutter 29 53 0 11 Sep 2019
Feedback MPC for Torque-Controlled Legged Robots R. Grandia Farbod Farshidian René Ranftl Marco Hutter 27 158 0 15 May 2019
Learning agile and dynamic motor skills for legged robots Jemin Hwangbo Joonho Lee Alexey Dosovitskiy Dario Bellicoso Vassilios Tsounis V. Koltun Marco Hutter 60 1,294 0 24 Jan 2019
Learning to Walk via Deep Reinforcement Learning Tuomas Haarnoja Sehoon Ha Aurick Zhou Jie Tan George Tucker Sergey Levine 78 435 0 26 Dec 2018
An Algorithmic Perspective on Imitation Learning Takayuki Osa Joni Pajarinen Gerhard Neumann J. Andrew Bagnell Pieter Abbeel Jan Peters 75 833 0 16 Nov 2018
Sim-to-Real: Learning Agile Locomotion For Quadruped Robots Jie Tan Tingnan Zhang Erwin Coumans Atil Iscen Yunfei Bai Danijar Hafner Steven Bohez Vincent Vanhoucke 67 798 0 27 Apr 2018
An Efficient Optimal Planning and Control Framework For Quadrupedal Locomotion Farbod Farshidian Michael Neunert Alexander Winkler Gonzalo Rey J. Buchli 23 144 0 30 Sep 2016
PLATO: Policy Learning using Adaptive Trajectory Optimization G. Kahn Tianhao Zhang Sergey Levine Pieter Abbeel 39 136 0 02 Mar 2016
Adam: A Method for Stochastic Optimization Diederik P. Kingma Jimmy Ba ODL 664 149,474 0 22 Dec 2014
A Reduction of Imitation Learning and Structured Prediction to No-Regret Online Learning Stéphane Ross Geoffrey J. Gordon J. Andrew Bagnell OffRL 137 3,196 0 02 Nov 2010