Minimizing Energy Consumption Leads to the Emergence of Gaits in Legged Robots

25 October 2021

Papers citing "Minimizing Energy Consumption Leads to the Emergence of Gaits in Legged Robots"

50 / 71 papers shown

Title
Spectral Normalization for Lipschitz-Constrained Policies on Learning Humanoid Locomotion Jaeyong Shin Woohyun Cha Donghyeon Kim Junhyeok Cha Jaeheung Park 29 0 0 11 Apr 2025
Sim-to-Real of Humanoid Locomotion Policies via Joint Torque Space Perturbation Injection Woohyun Cha Junhyeok Cha Jaeyong Shin Donghyeon Kim Jaeheung Park 36 0 0 09 Apr 2025
StyleLoco: Generative Adversarial Distillation for Natural Humanoid Robot Locomotion Le Ma Ziyu Meng Tengyu Liu Y. Li Ran Song Wei Zhang Siyuan Huang 61 0 0 19 Mar 2025
Energy-Efficient Motion Planner for Legged Robots Alexander Schperberg Marcel Menner Stefano Di Cairano 51 0 0 08 Mar 2025
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 Getting-Up Policies for Real-World Humanoid Robots Xialin He Runpei Dong Zixuan Chen Saurabh Gupta 75 5 0 17 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
Reinforcement Learning from Wild Animal Videos Elliot Chane-Sane Constant Roux O. Stasse Nicolas Mansard 134 0 0 05 Dec 2024
Learning-based Trajectory Tracking for Bird-inspired Flapping-Wing Robots Jiaze Cai Vishnu Sangli Mintae Kim Koushil Sreenath 77 0 0 22 Nov 2024
QuadWBG: Generalizable Quadrupedal Whole-Body Grasping Jilong Wang Javokhirbek Rajabov Chaoyi Xu Yiming Zheng He Wang 39 1 0 11 Nov 2024
AllGaits: Learning All Quadruped Gaits and Transitions Guillaume Bellegarda M. Shafiee A. Ijspeert 26 1 0 07 Nov 2024
Learning Smooth Humanoid Locomotion through Lipschitz-Constrained Policies Zixuan Chen Xialin He Yen-Jen Wang Qiayuan Liao Yanjie Ze ... S. Sastry Jiajun Wu K. Sreenath Saurabh Gupta Xue Bin Peng 63 17 0 15 Oct 2024
Constrained Skill Discovery: Quadruped Locomotion with Unsupervised Reinforcement Learning Vassil Atanassov Wanming Yu Alexander L. Mitchell M. N. Finean Ioannis Havoutis SSL 27 1 0 10 Oct 2024
Playful DoggyBot: Learning Agile and Precise Quadrupedal Locomotion Xin Duan Ziwen Zhuang Hang Zhao Soeren Schwertfeger 47 2 0 30 Sep 2024
Constrained Reinforcement Learning for Safe Heat Pump Control Baohe Zhang Lilli Frison Thomas Brox Joschka Bödecker AI4CE 21 0 0 29 Sep 2024
CROSS-GAiT: Cross-Attention-Based Multimodal Representation Fusion for Parametric Gait Adaptation in Complex Terrains Gershom Seneviratne K. Weerakoon Mohamed Bashir Elnoor Vignesh Rajgopal Harshavarthan Varatharajan Mohamed Khalid M Jaffar Jason Pusey Dinesh Manocha CVBM 29 0 0 25 Sep 2024
World Model-based Perception for Visual Legged Locomotion Hang Lai Jiahang Cao Jiafeng Xu Hongtao Wu Yunfeng Lin Tao Kong Yong Yu Weinan Zhang VGen 29 2 0 25 Sep 2024
SoloParkour: Constrained Reinforcement Learning for Visual Locomotion from Privileged Experience Elliot Chane-Sane Joseph Amigo Thomas Flayols Ludovic Righetti Nicolas Mansard 49 5 0 20 Sep 2024
UniLCD: Unified Local-Cloud Decision-Making via Reinforcement Learning Kathakoli Sengupta Zhongkai Shagguan Sandesh Bharadwaj Sanjay Arora Eshed Ohn-Bar Renato Mancuso 48 0 0 17 Sep 2024
Open-TeleVision: Teleoperation with Immersive Active Visual Feedback Xuxin Cheng Jialong Li Shiqi Yang Ge Yang Xiaolong Wang 59 96 0 01 Jul 2024
Humanoid Parkour Learning Ziwen Zhuang Shenzhe Yao Hang Zhao 43 35 0 15 Jun 2024
SLR: Learning Quadruped Locomotion without Privileged Information Shiyi Chen Zeyu Wan Shiyang Yan Chun Zhang Weiyi Zhang Qiang Li Debing Zhang F. Farrukh 34 4 0 07 Jun 2024
TOP-Nav: Legged Navigation Integrating Terrain, Obstacle and Proprioception Estimation Junli Ren Yikai Liu Yingru Dai Junfeng Long Guijin Wang 32 3 0 23 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
CaT: Constraints as Terminations for Legged Locomotion Reinforcement Learning Elliot Chane-Sane Pierre-Alexandre Leziart T. Flayols O. Stasse Philippe Souères Nicolas Mansard 32 8 0 27 Mar 2024
Constrained Reinforcement Learning with Smoothed Log Barrier Function Baohe Zhang Yuan Zhang Lilli Frison Thomas Brox Joschka Bödecker 29 8 0 21 Mar 2024
Dexterous Legged Locomotion in Confined 3D Spaces with Reinforcement Learning Zifan Xu Amir Hossain Raj Xuesu Xiao Peter Stone 29 5 0 06 Mar 2024
Expressive Whole-Body Control for Humanoid Robots Xuxin Cheng Yandong Ji Junming Chen Ruihan Yang Ge Yang Xiaolong Wang 50 90 0 26 Feb 2024
Real-World Fluid Directed Rigid Body Control via Deep Reinforcement Learning Mohak Bhardwaj Thomas Lampe Michael Neunert Francesco Romano A. Abdolmaleki Arunkumar Byravan Markus Wulfmeier Martin Riedmiller J. Buchli AI4CE 13 1 0 08 Feb 2024
Reinforcement Learning for Versatile, Dynamic, and Robust Bipedal Locomotion Control Zhongyu Li Xue Bin Peng Pieter Abbeel Sergey Levine Glen Berseth K. Sreenath 14 75 0 30 Jan 2024
Astrocyte Regulated Neuromorphic Central Pattern Generator Control of Legged Robotic Locomotion Zhuangyu Han Abhronil Sengupta 21 2 0 25 Dec 2023
Hybrid Internal Model: Learning Agile Legged Locomotion with Simulated Robot Response Junfeng Long Zirui Wang Quanyi Li Jiawei Gao Liu Cao Jiangmiao Pang 63 25 0 18 Dec 2023
Deriving Rewards for Reinforcement Learning from Symbolic Behaviour Descriptions of Bipedal Walking Daniel Harnack Christoph Lüth Lukas Gross Shivesh Kumar Frank Kirchner 28 0 0 16 Dec 2023
Grow Your Limits: Continuous Improvement with Real-World RL for Robotic Locomotion Laura M. Smith Yunhao Cao Sergey Levine OffRL 18 19 0 26 Oct 2023
Extreme Parkour with Legged Robots Xuxin Cheng Kexin Shi Ananye Agarwal Deepak Pathak 22 147 0 25 Sep 2023
Two-Stage Learning of Highly Dynamic Motions with Rigid and Articulated Soft Quadrupeds Francecso Vezzi Jiatao Ding Antonin Raffin Jens Kober Cosimo Della Santina 13 7 0 18 Sep 2023
Robot Parkour Learning Ziwen Zhuang Zipeng Fu Jianren Wang Christopher G Atkeson Soeren Schwertfeger Chelsea Finn Hang Zhao 32 138 0 11 Sep 2023
Controlling the Solo12 Quadruped Robot with Deep Reinforcement Learning M. Aractingi Pierre-Alexandre Léziart He Cao Julien Perez Yuan Yao Philippe Souères 17 26 0 02 Aug 2023
Robust Recovery Motion Control for Quadrupedal Robots via Learned Terrain Imagination Aswin Nahrendra Mi-Suk Oh Byeong-Uk Yu Hyungtae Lim Hyun Myung 18 1 0 22 Jun 2023
CAJun: Continuous Adaptive Jumping using a Learned Centroidal Controller Yuxiang Yang Guanya Shi Xiang Meng Wenhao Yu Tingnan Zhang Jie Tan Byron Boots 22 26 0 16 Jun 2023
Expanding Versatility of Agile Locomotion through Policy Transitions Using Latent State Representation Guilherme Christmann Ying-Sheng Luo Jonathan Hans Soeseno Wei-Chao Chen 15 2 0 14 Jun 2023
DeepTransition: Viability Leads to the Emergence of Gait Transitions in Learning Anticipatory Quadrupedal Locomotion Skills M. Shafiee Guillaume Bellegarda A. Ijspeert 13 9 0 12 Jun 2023
M-EMBER: Tackling Long-Horizon Mobile Manipulation via Factorized Domain Transfer Bohan Wu Roberto Martin-Martin Li Fei-Fei 20 12 0 23 May 2023
Learning and Adapting Agile Locomotion Skills by Transferring Experience Laura M. Smith J. Kew Tianyu Li Linda Luu Xue Bin Peng Sehoon Ha Jie Tan Sergey Levine 19 55 0 19 Apr 2023
Legs as Manipulator: Pushing Quadrupedal Agility Beyond Locomotion Xuxin Cheng Ashish Kumar Deepak Pathak 16 53 0 20 Mar 2023
Puppeteer and Marionette: Learning Anticipatory Quadrupedal Locomotion Based on Interactions of a Central Pattern Generator and Supraspinal Drive M. Shafiee Guillaume Bellegarda A. Ijspeert 17 18 0 26 Feb 2023
Robust and Versatile Bipedal Jumping Control through Reinforcement Learning Zhongyu Li Xue Bin Peng Pieter Abbeel Sergey Levine Glen Berseth K. Sreenath 33 38 0 19 Feb 2023
Geometry of contact: contact planning for multi-legged robots via spin models duality Baxi Chong Di Luo Tianyu Wang G. Margolis Juntao He Pulkit Agrawal M. Soljavcić Daniel I. Goldman 10 1 0 06 Feb 2023
DreamWaQ: Learning Robust Quadrupedal Locomotion With Implicit Terrain Imagination via Deep Reinforcement Learning Aswin Nahrendra Byeong-Uk Yu Hyunsam Myung 19 83 0 25 Jan 2023
Cascaded Compositional Residual Learning for Complex Interactive Behaviors K. N. Kumar Irfan Essa Sehoon Ha 23 12 0 17 Dec 2022