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2103.15309
Cited By
Robust Feedback Motion Policy Design Using Reinforcement Learning on a 3D Digit Bipedal Robot
IEEE/RJS International Conference on Intelligent RObots and Systems (IROS), 2021
29 March 2021
Guillermo A. Castillo
Bowen Weng
Wei Zhang
Ayonga Hereid
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Papers citing
"Robust Feedback Motion Policy Design Using Reinforcement Learning on a 3D Digit Bipedal Robot"
37 / 37 papers shown
MOBIUS: A Multi-Modal Bipedal Robot that can Walk, Crawl, Climb, and Roll
Alexander Schperberg
Yusuke Tanaka
Stefano Di Cairano
Dennis W. Hong
97
0
0
03 Nov 2025
HuMam: Humanoid Motion Control via End-to-End Deep Reinforcement Learning with Mamba
Yinuo Wang
Yuanyang Qi
Jinzhao Zhou
Gavin Tao
Mamba
140
0
0
22 Sep 2025
Whole-Body Control Framework for Humanoid Robots with Heavy Limbs: A Model-Based Approach
Tianlin Zhang
Linzhu Yue
Hongbo Zhang
Lingwei Zhang
Xuanqi Zeng
Zhitao Song
Yao Xiao
190
1
0
17 Jun 2025
Model Analysis And Design Of Ellipse Based Segmented Varying Curved Foot For Biped Robot Walking
B. Chen
Xizhe Zang
Chao Song
Yue Zhang
Jie Zhao
74
1
0
08 Jun 2025
Realizing Text-Driven Motion Generation on NAO Robot: A Reinforcement Learning-Optimized Control Pipeline
Zihan Xu
Mengxian Hu
Kaiyan Xiao
Qin Fang
Chengju Liu
Qijun Chen
201
1
0
05 Jun 2025
Optimal Control of Walkers with Parallel Actuation
Ludovic de Matteïs
Virgile Batto
Justin Carpentier
Nicolas Mansard
269
3
0
01 Apr 2025
Embrace Collisions: Humanoid Shadowing for Deployable Contact-Agnostics Motions
Ziwen Zhuang
Hang Zhao
290
12
0
03 Feb 2025
Learning Humanoid Locomotion over Challenging Terrain
Ilija Radosavovic
Sarthak Kamat
Trevor Darrell
Jitendra Malik
184
36
0
04 Oct 2024
Friction-Aware Safety Locomotion for Wheeled-legged Robots using Vision Language Models and Reinforcement Learning
Bo Peng
D. Baek
Qijie Wang
Joao Ramos
312
0
0
15 Sep 2024
Time-Varying Foot-Placement Control for Underactuated Humanoid Walking on Swaying Rigid Surfaces
Yuan Gao
Victor Paredes
Yukai Gong
Zijian He
Ayonga Hereid
Yan Gu
196
0
0
12 Sep 2024
Learning Multi-Modal Whole-Body Control for Real-World Humanoid Robots
Pranay Dugar
Aayam Shrestha
Fangzhou Yu
Bart Jaap van Marum
Alan Fern
363
19
0
30 Jul 2024
Evolutionary Morphology Towards Overconstrained Locomotion via Large-Scale, Multi-Terrain Deep Reinforcement Learning
Yenan Chen
Chuye Zhang
Pengxi Gu
Jianuo Qiu
Jiayi Yin
...
Zishang Zhang
Hui Deng
Wei Zhang
Fang Wan
Chaoyang Song
104
0
0
01 Jul 2024
Humanoid Parkour Learning
Ziwen Zhuang
Shenzhe Yao
Hang Zhao
393
117
0
15 Jun 2024
DiffuseLoco: Real-Time Legged Locomotion Control with Diffusion from Offline Datasets
Xiaoyu Huang
Yufeng Chi
Ruofeng Wang
Zhongyu Li
Xue Bin Peng
Sophia Shao
Borivoje Nikolic
Koushil Sreenath
OffRL
271
56
0
30 Apr 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
369
29
0
30 Apr 2024
Deep Reinforcement Learning for Bipedal Locomotion: A Brief Survey
Lingfan Bao
Josephine N. Humphreys
Tianhu Peng
Chengxu Zhou
511
11
0
25 Apr 2024
Humanoid Locomotion as Next Token Prediction
Ilija Radosavovic
Bike Zhang
Baifeng Shi
Jathushan Rajasegaran
Sarthak Kamat
Trevor Darrell
Koushil Sreenath
Jitendra Malik
LM&Ro
285
93
0
29 Feb 2024
Sim-to-Real Learning for Humanoid Box Loco-Manipulation
IEEE International Conference on Robotics and Automation (ICRA), 2023
Jeremy Dao
Helei Duan
Alan Fern
203
50
0
04 Oct 2023
Data-Driven Latent Space Representation for Robust Bipedal Locomotion Learning
IEEE International Conference on Robotics and Automation (ICRA), 2023
Guillermo A. Castillo
Bowen Weng
Wei Zhang
Ayonga Hereid
115
4
0
27 Sep 2023
Template Model Inspired Task Space Learning for Robust Bipedal Locomotion
IEEE/RJS International Conference on Intelligent RObots and Systems (IROS), 2023
Guillermo A. Castillo
Bowen Weng
Shunpeng Yang
Wei Zhang
Ayonga Hereid
192
23
0
27 Sep 2023
Learning Vision-Based Bipedal Locomotion for Challenging Terrain
IEEE 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
280
65
0
26 Sep 2023
Towards Standardized Disturbance Rejection Testing of Legged Robot Locomotion with Linear Impactor: A Preliminary Study, Observations, and Implications
IEEE International Conference on Robotics and Automation (ICRA), 2023
Bowen Weng
Guillermo A. Castillo
Yun-Seok Kang
Ayonga Hereid
223
7
0
28 Aug 2023
Real-World Humanoid Locomotion with Reinforcement Learning
Science Robotics (Sci. Robot.), 2023
Ilija Radosavovic
Tete Xiao
Bike Zhang
Trevor Darrell
Jitendra Malik
Koushil Sreenath
339
264
0
06 Mar 2023
Robust and Versatile Bipedal Jumping Control through Reinforcement Learning
Zhongyu Li
Xue Bin Peng
Pieter Abbeel
Sergey Levine
Glen Berseth
Koushil Sreenath
224
64
0
19 Feb 2023
Enabling surrogate-assisted evolutionary reinforcement learning via policy embedding
International Conference on Bio-Inspired Computing: Theories and Applications (BICTA), 2023
Lan Tang
Xiaxi Li
Jinyuan Zhang
Guiying Li
Peng Yang
Ke Tang
184
1
0
31 Jan 2023
Learning Bipedal Walking On Planned Footsteps For Humanoid Robots
IEEE-RAS International Conference on Humanoid Robots (Humanoids), 2022
R. P. Singh
M. Benallegue
M. Morisawa
Rafael Cisneros
F. Kanehiro
218
31
0
26 Jul 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
194
20
0
11 May 2022
Learning Dynamic Bipedal Walking Across Stepping Stones
IEEE/RJS International Conference on Intelligent RObots and Systems (IROS), 2022
Helei Duan
A. Malik
M. S. Gadde
Jeremy Dao
Alan Fern
J. Hurst
194
24
0
03 May 2022
Neural Gaits: Learning Bipedal Locomotion via Control Barrier Functions and Zero Dynamics Policies
Conference on Learning for Dynamics & Control (L4DC), 2022
I. D. Rodriguez
Noel Csomay-Shanklin
Yisong Yue
Aaron D. Ames
171
8
0
18 Apr 2022
On Safety Testing, Validation, and Characterization with Scenario-Sampling: A Case Study of Legged Robots
IEEE/RJS International Conference on Intelligent RObots and Systems (IROS), 2022
Bowen Weng
Guillermo A. Castillo
Wei Zhang
Ayonga Hereid
119
8
0
16 Apr 2022
Sim-to-Real Learning of Footstep-Constrained Bipedal Dynamic Walking
IEEE International Conference on Robotics and Automation (ICRA), 2022
Helei Duan
A. Malik
Jeremy Dao
Aseem Saxena
Kevin R. Green
J. Siekmann
Alan Fern
J. Hurst
191
31
0
15 Mar 2022
Bayesian Optimization Meets Hybrid Zero Dynamics: Safe Parameter Learning for Bipedal Locomotion Control
IEEE International Conference on Robotics and Automation (ICRA), 2022
Lizhi Yang
Zhongyu Li
Jun Zeng
Koushil Sreenath
249
14
0
04 Mar 2022
Reactive Stepping for Humanoid Robots using Reinforcement Learning: Application to Standing Push Recovery on the Exoskeleton Atalante
IEEE/RJS International Conference on Intelligent RObots and Systems (IROS), 2022
Alexis Duburcq
Fabian Schramm
Guilhem Boéris
Nicolas Bredèche
Y. Chevaleyre
283
11
0
02 Mar 2022
Interactive Dynamic Walking: Learning Gait Switching Policies with Generalization Guarantees
IEEE Robotics and Automation Letters (RA-L), 2021
P. Chand
Sushant Veer
I. Poulakakis
122
5
0
28 Sep 2021
Linear Policies are Sufficient to Realize Robust Bipedal Walking on Challenging Terrains
IEEE Robotics and Automation Letters (RA-L), 2021
L. Krishna
Guillermo A. Castillo
Utkarsh Aashu Mishra
Ayonga Hereid
Shishir Kolathaya
233
26
0
26 Sep 2021
Whole-Body Control with Motion/Force Transmissibility for Parallel-Legged Robot
Jiajun Wang
Gang Han
Xiaozhu Ju
Mingguo Zhao
142
2
0
15 Sep 2021
Zero Dynamics, Pendulum Models, and Angular Momentum in Feedback Control of Bipedal Locomotion
Journal of Dynamic Systems Measurement, and Control (JDSMC), 2021
Yukai Gong
J. Grizzle
174
54
0
17 May 2021
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