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"

41 / 91 papers shown

Title
Imitating and Finetuning Model Predictive Control for Robust and Symmetric Quadrupedal Locomotion D. Youm Hyunyoung Jung Hyeongjun Kim Jemin Hwangbo Hae-Won Park Sehoon Ha 32 9 0 04 Nov 2023
Learning to See Physical Properties with Active Sensing Motor Policies G. Margolis Xiang Fu Yandong Ji Pulkit Agrawal 31 11 0 02 Nov 2023
Adapt On-the-Go: Behavior Modulation for Single-Life Robot Deployment Annie S. Chen Govind Chada Laura M. Smith Archit Sharma Zipeng Fu Sergey Levine Chelsea Finn 52 7 0 02 Nov 2023
Learning Agility and Adaptive Legged Locomotion via Curricular Hindsight Reinforcement Learning Sicen Li Yiming Pang Panju Bai Zhaojin Liu Jiawei Li Shihao Hu Liquan Wang Gang Wang 27 2 0 24 Oct 2023
ManyQuadrupeds: Learning a Single Locomotion Policy for Diverse Quadruped Robots M. Shafiee Guillaume Bellegarda A. Ijspeert 28 26 0 16 Oct 2023
Guardians as You Fall: Active Mode Transition for Safe Falling Yikai Wang Mengdi Xu Guanya Shi Ding Zhao 23 7 0 07 Oct 2023
From Knowing to Doing: Learning Diverse Motor Skills through Instruction Learning Linqi Ye Jiayi Li Yi Cheng Xianhao Wang Bin Liang Yan Peng 21 7 0 17 Sep 2023
Efficient Reinforcement Learning for Jumping Monopods Riccardo Bussola Michele Focchi Andrea Del Prete Daniele Fontanelli Luigi Palopoli 42 2 0 13 Sep 2023
Robot Parkour Learning Ziwen Zhuang Zipeng Fu Jianren Wang Christopher G Atkeson Soeren Schwertfeger Chelsea Finn Hang Zhao 45 142 0 11 Sep 2023
Seeing-Eye Quadruped Navigation with Force Responsive Locomotion Control David DeFazio Eisuke Hirota Shiqi Zhang 29 7 0 08 Sep 2023
Learning Whole-body Manipulation for Quadrupedal Robot S. Jeon Moonkyu Jung Suyoung Choi Beomjoon Kim Jemin Hwangbo 18 28 0 31 Aug 2023
Not Only Rewards But Also Constraints: Applications on Legged Robot Locomotion Yunho Kim H. Oh J. Lee Jinhyeok Choi Gwanghyeon Ji Moonkyu Jung D. Youm Jemin Hwangbo 24 42 0 24 Aug 2023
Robust Quadrupedal Locomotion via Risk-Averse Policy Learning Jiyuan Shi Chenjia Bai Haoran He Lei Han Dong Wang Bin Zhao Mingguo Zhao Xiuyang Li Xuelong Li OffRL OOD 30 9 0 18 Aug 2023
Versatile Multi-Contact Planning and Control for Legged Loco-Manipulation Jean-Pierre Sleiman Farbod Farshidian Marco Hutter 23 51 0 17 Aug 2023
Learning Multiple Gaits within Latent Space for Quadruped Robots Jinze Wu Yufei Xue Chenkun Qi 27 18 0 06 Aug 2023
Controlling the Solo12 Quadruped Robot with Deep Reinforcement Learning M. Aractingi Pierre-Alexandre Léziart He Cao Julien Perez Yuan Yao Philippe Souères 25 26 0 02 Aug 2023
Combining model-predictive control and predictive reinforcement learning for stable quadrupedal robot locomotion Vyacheslav Kovalev Anna Shkromada H. Ouerdane Pavel Osinenko 21 2 0 15 Jul 2023
Identifying Important Sensory Feedback for Learning Locomotion Skills Wanming Yu Chuanyu Yang C. McGreavy Eleftherios Triantafyllidis Guillaume Bellegarda M. Shafiee A. Ijspeert Zhibin Li 19 16 0 29 Jun 2023
Reinforcement Learning for Legged Robots: Motion Imitation from Model-Based Optimal Control A. Miller Shamel Fahmi Matthew Chignoli Sangbae Kim 12 5 0 18 May 2023
Learning Agile Soccer Skills for a Bipedal Robot with Deep Reinforcement Learning Tuomas Haarnoja Ben Moran Guy Lever Sandy H. Huang Dhruva Tirumala ... Andrea Huber N. Hurley F. Nori R. Hadsell N. Heess 47 140 0 26 Apr 2023
Roll-Drop: accounting for observation noise with a single parameter Luigi Campanaro D. Martini Siddhant Gangapurwala W. Merkt Ioannis Havoutis SyDa 28 3 0 25 Apr 2023
Learning Robust, Agile, Natural Legged Locomotion Skills in the Wild Yikai Wang Zheyuan Jiang Jianyu Chen 19 8 0 21 Apr 2023
DribbleBot: Dynamic Legged Manipulation in the Wild Yandong Ji G. Margolis Pulkit Agrawal 31 53 0 03 Apr 2023
Two-layer adaptive trajectory tracking controller for quadruped robots on slippery terrains Despina Ekaterini Argiropoulos Dimitrios Papageorgiou Michael Maravgakis Drosakis Drosakis P. Trahanias 24 2 0 03 Apr 2023
Learning a Single Policy for Diverse Behaviors on a Quadrupedal Robot using Scalable Motion Imitation Arnaud Klipfel Nitish Sontakke Ren Liu Sehoon Ha 33 7 0 27 Mar 2023
Legs as Manipulator: Pushing Quadrupedal Agility Beyond Locomotion Xuxin Cheng Ashish Kumar Deepak Pathak 24 54 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 29 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 46 39 0 19 Feb 2023
DreamWaQ: Learning Robust Quadrupedal Locomotion With Implicit Terrain Imagination via Deep Reinforcement Learning Aswin Nahrendra Byeong-Uk Yu Hyunsam Myung 27 84 0 25 Jan 2023
Walk These Ways: Tuning Robot Control for Generalization with Multiplicity of Behavior G. Margolis Pulkit Agrawal 31 155 0 06 Dec 2022
Creating a Dynamic Quadrupedal Robotic Goalkeeper with Reinforcement Learning Xiaoyu Huang Zhongyu Li Yan-Ling Xiang Yiming Ni Yufeng Chi Yunhao Li Lizhi Yang Xue Bin Peng K. Sreenath 37 44 0 10 Oct 2022
Learning Low-Frequency Motion Control for Robust and Dynamic Robot Locomotion Siddhant Gangapurwala Luigi Campanaro Ioannis Havoutis 32 11 0 29 Sep 2022
Learning and Deploying Robust Locomotion Policies with Minimal Dynamics Randomization Luigi Campanaro Siddhant Gangapurwala W. Merkt Ioannis Havoutis 52 13 0 26 Sep 2022
Advanced Skills by Learning Locomotion and Local Navigation End-to-End Nikita Rudin David Hoeller Marko Bjelonic Marco Hutter 80 71 0 26 Sep 2022
GenLoco: Generalized Locomotion Controllers for Quadrupedal Robots Gilbert Feng Hongbo Zhang Zhongyu Li Xue Bin Peng Bhuvan Basireddy ... Zhitao Song Lizhi Yang Yunhui Liu K. Sreenath Sergey Levine 92 57 0 12 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 39 62 0 01 Aug 2022
Rapid Locomotion via Reinforcement Learning G. Margolis Ge Yang Kartik Paigwar Tao Chen Pulkit Agrawal 37 226 0 05 May 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 20 112 0 28 Mar 2022
Robust High-speed Running for Quadruped Robots via Deep Reinforcement Learning Guillaume Bellegarda Yiyu Chen Zhuochen Liu Quan Nguyen 34 44 0 11 Mar 2021
Multi-expert learning of adaptive legged locomotion Chuanyu Yang Kai Yuan Qiuguo Zhu Wanming Yu Zhibin Li 111 184 0 10 Dec 2020
Robust Quadruped Jumping via Deep Reinforcement Learning Guillaume Bellegarda Chuong H. Nguyen Quan Nguyen 24 63 0 13 Nov 2020