Receding-Horizon Perceptive Trajectory Optimization for Dynamic Legged Locomotion with Learned Initialization

19 April 2021

Papers citing "Receding-Horizon Perceptive Trajectory Optimization for Dynamic Legged Locomotion with Learned Initialization"

21 / 21 papers shown

Title
Attention-Based Map Encoding for Learning Generalized Legged Locomotion Junzhe He Chong Zhang Fabian Jenelten Ruben Grandia Moritz Bächer Marco Hutter 62 0 0 11 Jun 2025
Gaitor: Learning a Unified Representation Across Gaits for Real-World Quadruped Locomotion Alexander L. Mitchell W. Merkt Aristotelis Papatheodorou Ioannis Havoutis Ingmar Posner 56 4 0 29 May 2024
Agile and versatile bipedal robot tracking control through reinforcement learning Jiayi Li Linqi Ye Yi Cheng Houde Liu Bin Liang 86 1 0 12 Apr 2024
Multi-Resolution Planar Region Extraction for Uneven Terrains Yinghan Sun Linfang Zheng Hua Chen Wei Zhang 3DV 41 0 0 21 Nov 2023
Learning Agile Locomotion on Risky Terrains Chong Zhang Nikita Rudin David Hoeller Marco Hutter 61 23 0 17 Nov 2023
Hierarchical Experience-informed Navigation for Multi-modal Quadrupedal Rebar Grid Traversal M. Asselmeier Jane Ivanova Ziyi Zhou Patricio A. Vela Ye Zhao 58 4 0 14 Nov 2023
DTC: Deep Tracking Control Fabian Jenelten Junzhe He Farbod Farshidian Marco Hutter 99 82 0 27 Sep 2023
Online Multi-Contact Receding Horizon Planning via Value Function Approximation Jiayi Wang Sanghyun Kim Teguh Santoso Lembono Wenqian Du Jae-Koo Shim ... Ke Min Wang V. Ivan Sylvain Calinon S. Vijayakumar Steve Tonneau 52 5 0 07 Jun 2023
Reinforcement Learning for Legged Robots: Motion Imitation from Model-Based Optimal Control A. Miller Shamel Fahmi Matthew Chignoli Sangbae Kim 79 5 0 18 May 2023
Perceptive Locomotion through Whole-Body MPC and Optimal Region Selection Thomas Corbéres Carlos Mastalli W. Merkt Ioannis Havoutis Maurice F. Fallon Nicolas Mansard T. Flayols S. Vijayakumar Steve Tonneau 86 15 0 15 May 2023
ViTAL: Vision-Based Terrain-Aware Locomotion for Legged Robots Shamel Fahmi Victor Barasuol Domingo Esteban Octavio Villarreal Claudio Semini 65 17 0 02 Dec 2022
Optimization-Based Control for Dynamic Legged Robots Patrick M. Wensing Michael Posa Yue Hu Adrien Escande Nicolas Mansard Andrea Del Prete 106 149 0 21 Nov 2022
Recent Approaches for Perceptive Legged Locomotion Hersh Sanghvi 104 0 0 21 Sep 2022
Perceptive Locomotion through Nonlinear Model Predictive Control R. Grandia Fabian Jenelten Shao-hua Yang Farbod Farshidian Marco Hutter 85 150 0 17 Aug 2022
TAMOLS: Terrain-Aware Motion Optimization for Legged Systems Fabian Jenelten R. Grandia Farbod Farshidian Marco Hutter 96 64 0 28 Jun 2022
VAE-Loco: Versatile Quadruped Locomotion by Learning a Disentangled Gait Representation Alexander L. Mitchell W. Merkt Mathieu Geisert Siddhant Gangapurwala Martin Engelcke Oiwi Parker Jones Ioannis Havoutis Ingmar Posner 76 3 0 02 May 2022
Agile Maneuvers in Legged Robots: a Predictive Control Approach Carlos Mastalli W. Merkt Guiyang Xin Jae-Eul Shim M. Mistry Ioannis Havoutis S. Vijayakumar 86 57 0 14 Mar 2022
Fast Footstep Planning on Uneven Terrain Using Deep Sequential Models Hersh Sanghvi Camillo J Taylor 29 1 0 14 Dec 2021
Next Steps: Learning a Disentangled Gait Representation for Versatile Quadruped Locomotion Alexander L. Mitchell W. Merkt Mathieu Geisert Siddhant Gangapurwala Martin Engelcke Oiwi Parker Jones Ioannis Havoutis Ingmar Posner 32 4 0 09 Dec 2021
Accessibility-Based Clustering for Efficient Learning of Locomotion Skills Chong Zhang Wanming Yu Zhibin Li 116 10 0 23 Sep 2021
VILENS: Visual, Inertial, Lidar, and Leg Odometry for All-Terrain Legged Robots David Wisth Marco Camurri Maurice F. Fallon 122 125 0 15 Jul 2021