Concurrent Training of a Control Policy and a State Estimator for Dynamic and Robust Legged Locomotion

11 February 2022

Papers citing "Concurrent Training of a Control Policy and a State Estimator for Dynamic and Robust Legged Locomotion"

50 / 91 papers shown

Title
Learning Impact-Rich Rotational Maneuvers via Centroidal Velocity Rewards and Sim-to-Real Techniques: A One-Leg Hopper Flip Case Study Dongyun Kang Gijeong Kim JongHun Choe Hajun Kim Hae-Won Park 0 0 0 18 May 2025
FACET: Force-Adaptive Control via Impedance Reference Tracking for Legged Robots Botian Xu Haoyang Weng Qingzhou Lu Yang Gao Huazhe Xu 29 0 0 11 May 2025
High-Performance Reinforcement Learning on Spot: Optimizing Simulation Parameters with Distributional Measures A. J Miller Fangzhou Yu Michael Brauckmann Farbod Farshidian OffRL BDL 23 0 0 24 Apr 2025
Dynamic Legged Ball Manipulation on Rugged Terrains with Hierarchical Reinforcement Learning Dongjie Zhu Zhuo Yang Tianhang Wu Luzhou Ge X. Li Qi Liu Zhaoxin Fan 29 0 0 21 Apr 2025
Unified Locomotion Transformer with Simultaneous Sim-to-Real Transfer for Quadrupeds Dikai Liu Tianwei Zhang Jianxiong Yin Simon See OffRL 60 0 0 13 Mar 2025
Learning Robotic Policy with Imagined Transition: Mitigating the Trade-off between Robustness and Optimality Wei Xiao Shangke Lyu Zhefei Gong Renjie Wang Donglin Wang 46 1 0 13 Mar 2025
Gait in Eight: Efficient On-Robot Learning for Omnidirectional Quadruped Locomotion Nico Bohlinger Jonathan Kinzel Daniel Palenicek Lukasz Antczak Jan Peters 41 1 0 11 Mar 2025
Legged Robot State Estimation Using Invariant Neural-Augmented Kalman Filter with a Neural Compensator Seokju Lee Hyun-Bin Kim Kyung-soo Kim 31 0 0 01 Mar 2025
Learning Humanoid Locomotion with World Model Reconstruction Wandong Sun L. Chen Yongbo Su Baoshi Cao Yang Liu Zongwu Xie 61 1 0 22 Feb 2025
Bridging the Sim-to-Real Gap for Athletic Loco-Manipulation Nolan Fey G. Margolis Martin Peticco Pulkit Agrawal 52 3 0 15 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
ASAP: Aligning Simulation and Real-World Physics for Learning Agile Humanoid Whole-Body Skills Tairan He J. Gao Wenli Xiao Yuyao Zhang Zi Wang ... Jessica Hodgins Linxi Fan Yuke Zhu Changliu Liu Guanya Shi 84 11 0 03 Feb 2025
Understanding Expectations for a Robotic Guide Dog for Visually Impaired People J. Kim Morgan Byrd Jack L. Crandell Bruce N. Walker Greg Turk Sehoon Ha 40 1 0 08 Jan 2025
QuadWBG: Generalizable Quadrupedal Whole-Body Grasping Jilong Wang Javokhirbek Rajabov Chaoyi Xu Yiming Zheng He Wang 46 1 0 11 Nov 2024
AllGaits: Learning All Quadruped Gaits and Transitions Guillaume Bellegarda M. Shafiee A. Ijspeert 28 1 0 07 Nov 2024
State Estimation Transformers for Agile Legged Locomotion Chen Yu Yichu Yang Tianlin Liu Yangwei You Mingliang Zhou Diyun Xiang 31 1 0 17 Oct 2024
Dynamic Object Catching with Quadruped Robot Front Legs André Schakkal Guillaume Bellegarda A. Ijspeert 31 1 0 10 Oct 2024
Helpful DoggyBot: Open-World Object Fetching using Legged Robots and Vision-Language Models Qi Wu Zipeng Fu Xuxin Cheng Xiaolong Wang Chelsea Finn LM&Ro 36 8 0 30 Sep 2024
Playful DoggyBot: Learning Agile and Precise Quadrupedal Locomotion Xin Duan Ziwen Zhuang Hang Zhao Soeren Schwertfeger 49 2 0 30 Sep 2024
Obstacle-Aware Quadrupedal Locomotion With Resilient Multi-Modal Reinforcement Learning I Made Aswin Nahrendra Byeongho Yu Minho Oh Dongkyu Lee Seunghyun Lee Hyeonwoo Lee Hyungtae Lim Hyun Myung 140 2 0 29 Sep 2024
Stage-Wise Reward Shaping for Acrobatic Robots: A Constrained Multi-Objective Reinforcement Learning Approach Dohyeong Kim Hyeokjin Kwon Junseok Kim Gunmin Lee Songhwai Oh 39 6 0 24 Sep 2024
Walking with Terrain Reconstruction: Learning to Traverse Risky Sparse Footholds Ruiqi Yu Qianshi Wang Yizhen Wang Zhicheng Wang Jun Wu Qiuguo Zhu 32 2 0 24 Sep 2024
A Learning Framework for Diverse Legged Robot Locomotion Using Barrier-Based Style Rewards Gijeong Kim Yong-Hoon Lee Hae-Won Park 51 4 0 24 Sep 2024
Whole-body End-Effector Pose Tracking Tifanny Portela Andrei Cramariuc Mayank Mittal Marco Hutter 52 3 0 24 Sep 2024
Safety-critical Locomotion of Biped Robots in Infeasible Paths: Overcoming Obstacles during Navigation toward Destination Jaemin Lee Min Dai Jeeseop Kim Aaron D. Ames 40 0 0 16 Sep 2024
FSL-LVLM: Friction-Aware Safety Locomotion using Large Vision Language Model in Wheeled Robots Bo Peng D. Baek Qijie Wang Joao Ramos 28 0 0 15 Sep 2024
One Policy to Run Them All: an End-to-end Learning Approach to Multi-Embodiment Locomotion Nico Bohlinger Grzegorz Czechmanowski Maciej Krupka Piotr Kicki Krzysztof Walas Jan Peters Davide Tateo 50 14 0 10 Sep 2024
PIE: Parkour with Implicit-Explicit Learning Framework for Legged Robots Shixin Luo Songbo Li Ruiqi Yu Zhicheng Wang Jun Wu Qiuguo Zhu 33 11 0 25 Aug 2024
Learning Rapid Turning, Aerial Reorientation, and Balancing using Manipulator as a Tail Insung Yang Jemin Hwangbo 34 1 0 15 Jul 2024
Pretraining-finetuning Framework for Efficient Co-design: A Case Study on Quadruped Robot Parkour Ci Chen Jiyu Yu Haojian Lu Hongbo Gao R. Xiong Yue Wang 54 0 0 09 Jul 2024
PA-LOCO: Learning Perturbation-Adaptive Locomotion for Quadruped Robots Zhiyuan Xiao Xinyu Zhang Xiang Zhou Qingrui Zhang 34 3 0 05 Jul 2024
QuadrupedGPT: Towards a Versatile Quadruped Agent in Open-ended Worlds Ye Wang Yuting Mei Sipeng Zheng Qin Jin LRM 40 2 0 24 Jun 2024
Humanoid Parkour Learning Ziwen Zhuang Shenzhe Yao Hang Zhao 51 37 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 37 4 0 07 Jun 2024
Learning-based legged locomotion; state of the art and future perspectives Sehoon Ha Joonho Lee M. van de Panne Zhaoming Xie Wenhao Yu Majid Khadiv 47 16 0 03 Jun 2024
Learning Robust Autonomous Navigation and Locomotion for Wheeled-Legged Robots Joonho Lee Marko Bjelonic Alexander Reske Lorenz Wellhausen Takahiro Miki Marco Hutter 74 39 0 03 May 2024
Learning Force Control for Legged Manipulation Tifanny Portela G. Margolis Yandong Ji Pulkit Agrawal 32 16 0 02 May 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 K. Sreenath OffRL 83 27 0 30 Apr 2024
Impedance Matching: Enabling an RL-Based Running Jump in a Quadruped Robot Neil Guan Shangqun Yu Shifan Zhu Donghyun Kim 37 0 0 23 Apr 2024
Learning Visual Quadrupedal Loco-Manipulation from Demonstrations Zhengmao He Kun Lei Yanjie Ze K. Sreenath Zhongyu Li Huazhe Xu 71 12 0 29 Mar 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 Masayoshi Tomizuka 76 3 0 29 Mar 2024
DexDribbler: Learning Dexterous Soccer Manipulation via Dynamic Supervision Yutong Hu Kehan Wen Fisher Yu 46 2 0 21 Mar 2024
Quadruped-Frog: Rapid Online Optimization of Continuous Quadruped Jumping Guillaume Bellegarda M. Shafiee Merih Ekin Özberk A. Ijspeert 40 9 0 11 Mar 2024
Toward Understanding Key Estimation in Learning Robust Humanoid Locomotion Zhicheng Wang Wandi Wei Ruiqi Yu Jun Wu Qiuguo Zhu 44 5 0 09 Mar 2024
Cafe-Mpc: A Cascaded-Fidelity Model Predictive Control Framework with Tuning-Free Whole-Body Control He Li Patrick M. Wensing 44 12 0 06 Mar 2024
Legged Robot State Estimation With Invariant Extended Kalman Filter Using Neural Measurement Network D. Youm Hyunsik Oh Suyoung Choi Hyeongjun Kim Jemin Hwangbo 24 4 0 01 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 27 77 0 30 Jan 2024
Experience-Learning Inspired Two-Step Reward Method for Efficient Legged Locomotion Learning Towards Natural and Robust Gaits Yinghui Li Jinze Wu Xin Liu Weizhong Guo Yufei Xue 32 1 0 22 Jan 2024
Actuator-Constrained Reinforcement Learning for High-Speed Quadrupedal Locomotion Young-Ha Shin Tae-Gyu Song Gwanghyeon Ji Hae-Won Park 22 4 0 29 Dec 2023
Contact-Implicit MPC: Controlling Diverse Quadruped Motions Without Pre-Planned Contact Modes or Trajectories Gijeong Kim Dong-Kyun Kang Joon-ha Kim Seungwoo Hong Hae-Won Park 38 5 0 14 Dec 2023