Fast and Efficient Locomotion via Learned Gait Transitions

9 April 2021

Tingnan Zhang

Jie Tan

Papers citing "Fast and Efficient Locomotion via Learned Gait Transitions"

28 / 28 papers shown

Title
Discrete-Time Hybrid Automata Learning: Legged Locomotion Meets Skateboarding Hang Liu Sangli Teng Ben Liu Wei Zhang Maani Ghaffari 72 3 0 03 Mar 2025
Learning Quiet Walking for a Small Home Robot Ryo Watanabe Takahiro Miki Fan Shi Yuki Kadokawa Filip Bjelonic Kento Kawaharazuka Andrei Cramariuc Marco Hutter 36 1 0 16 Feb 2025
Discovery of skill switching criteria for learning agile quadruped locomotion Wanming Yu Fernando Acero Vassil Atanassov Chuanyu Yang Ioannis Havoutis Dimitrios Kanoulas Zhibin Li 53 0 0 10 Feb 2025
The Duke Humanoid: Design and Control For Energy Efficient Bipedal Locomotion Using Passive Dynamics Boxi Xia Bokuan Li Jacob Lee Michael Scutari Boyuan Chen AI4CE 29 4 0 29 Sep 2024
Agile and versatile bipedal robot tracking control through reinforcement learning Jiayi Li Linqi Ye Yi Cheng Houde Liu Bin Liang 28 1 0 12 Apr 2024
Humanoid-Gym: Reinforcement Learning for Humanoid Robot with Zero-Shot Sim2Real Transfer Xinyang Gu Yen-Jen Wang Jianyu Chen 34 34 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 K. Sreenath M. Tomizuka 65 3 0 29 Mar 2024
Expert Composer Policy: Scalable Skill Repertoire for Quadruped Robots Guilherme Christmann Ying-Sheng Luo Wei-Chao Chen 32 0 0 18 Mar 2024
Learning Agile Locomotion and Adaptive Behaviors via RL-augmented MPC Lydia Y. Chen Quan Nguyen 18 9 0 13 Oct 2023
An Open-Loop Baseline for Reinforcement Learning Locomotion Tasks Antonin Raffin Olivier Sigaud Jens Kober Alin Albu-Schäffer João Silvério F. Stulp 29 2 0 09 Oct 2023
Continuous Versatile Jumping Using Learned Action Residuals Yuxiang Yang Xiang Meng Wenhao Yu Tingnan Zhang Jie Tan Byron Boots 29 11 0 17 Apr 2023
Sim-to-Real Transfer for Quadrupedal Locomotion via Terrain Transformer Hang Lai Weinan Zhang Xialin He Chen Yu Zheng Tian Yong Yu Jun Wang 14 20 0 15 Dec 2022
Learning Agile Paths from Optimal Control Alex Beaudin Hsiu-Chin Lin 14 0 0 30 Nov 2022
Learning Low-Frequency Motion Control for Robust and Dynamic Robot Locomotion Siddhant Gangapurwala Luigi Campanaro Ioannis Havoutis 30 11 0 29 Sep 2022
Advanced Skills by Learning Locomotion and Local Navigation End-to-End N. Rudin David Hoeller Marko Bjelonic Marco Hutter 72 70 0 26 Sep 2022
Hierarchical Reinforcement Learning for Precise Soccer Shooting Skills using a Quadrupedal Robot Yandong Ji Zhongyu Li Yinan Sun Xue Bin Peng Sergey Levine Glen Berseth K. Sreenath 29 61 0 01 Aug 2022
Rethinking Sim2Real: Lower Fidelity Simulation Leads to Higher Sim2Real Transfer in Navigation Joanne Truong M. Rudolph Naoki Yokoyama Sonia Chernova Dhruv Batra Akshara Rai 29 40 0 21 Jul 2022
DayDreamer: World Models for Physical Robot Learning Philipp Wu Alejandro Escontrela Danijar Hafner Ken Goldberg Pieter Abbeel 47 276 0 28 Jun 2022
Learning Semantics-Aware Locomotion Skills from Human Demonstration Yuxiang Yang Xiang Meng Wenhao Yu Tingnan Zhang Jie Tan Byron Boots 13 12 0 27 Jun 2022
Adversarial Motion Priors Make Good Substitutes for Complex Reward Functions Alejandro Escontrela Xue Bin Peng Wenhao Yu Tingnan Zhang Atil Iscen Ken Goldberg Pieter Abbeel 9 112 0 28 Mar 2022
Coupling Vision and Proprioception for Navigation of Legged Robots Zipeng Fu Ashish Kumar Ananye Agarwal Haozhi Qi Jitendra Malik Deepak Pathak 21 72 0 03 Dec 2021
Learning to Jump from Pixels G. Margolis Tao Chen Kartik Paigwar Xiang Fu Donghyun Kim Sangbae Kim Pulkit Agrawal 41 82 0 28 Oct 2021
Minimizing Energy Consumption Leads to the Emergence of Gaits in Legged Robots Zipeng Fu Ashish Kumar Jitendra Malik Deepak Pathak 22 115 0 25 Oct 2021
Learning Vision-Guided Quadrupedal Locomotion End-to-End with Cross-Modal Transformers Ruihan Yang Minghao Zhang Nicklas Hansen Huazhe Xu Xiaolong Wang OffRL 13 100 0 08 Jul 2021
Robust High-speed Running for Quadruped Robots via Deep Reinforcement Learning Guillaume Bellegarda Yiyu Chen Zhuochen Liu Quan Nguyen 32 44 0 11 Mar 2021
Rapidly Adaptable Legged Robots via Evolutionary Meta-Learning Xingyou Song Yuxiang Yang K. Choromanski Ken Caluwaerts Wenbo Gao Chelsea Finn Jie Tan 109 79 0 02 Mar 2020
DeepMimic: Example-Guided Deep Reinforcement Learning of Physics-Based Character Skills Xue Bin Peng Pieter Abbeel Sergey Levine M. van de Panne AI4CE 171 495 0 08 Apr 2018
Emergence of Locomotion Behaviours in Rich Environments N. Heess TB Dhruva S. Sriram Jay Lemmon J. Merel ... Tom Erez Ziyun Wang S. M. Ali Eslami Martin Riedmiller David Silver 131 928 0 07 Jul 2017