Advanced Skills through Multiple Adversarial Motion Priors in Reinforcement Learning

23 March 2022

Marco Hutter

Papers citing "Advanced Skills through Multiple Adversarial Motion Priors in Reinforcement Learning"

45 / 45 papers shown

Title
Motion Priors Reimagined: Adapting Flat-Terrain Skills for Complex Quadruped Mobility Zewei Zhang Chenhao Li Takahiro Miki Marco Hutter 12 0 0 21 May 2025
MA-ROESL: Motion-aware Rapid Reward Optimization for Efficient Robot Skill Learning from Single Videos Xinyu Wang Xinming Zhang Yanjun Chen Xiaoyu Shen Wei Zhang 34 0 0 13 May 2025
QuietPaw: Learning Quadrupedal Locomotion with Versatile Noise Preference Alignment Yuyou Zhang Yihang Yao Shiqi Liu Yaru Niu Changyi Lin Yuxiang Yang Wenhao Yu Tingnan Zhang Jie Tan Ding Zhao 69 0 0 06 Mar 2025
Continuous Control of Diverse Skills in Quadruped Robots Without Complete Expert Datasets Jiaxin Tu Xiaoyi Wei Yueqi Zhang Taixian Hou Xiaofei Gao Zhiyan Dong Peng Zhai Lihua Zhang 83 0 0 05 Mar 2025
E2H: A Two-Stage Non-Invasive Neural Signal Driven Humanoid Robotic Whole-Body Control Framework Yiqun Duan Qiang Zhang Jinzhao Zhou Jingkai Sun Xiaowei Jiang ... Yiqian Yang Wen Zhao Gang Han Yijie Guo Chin-Teng Lin 37 1 0 03 Oct 2024
A Learning Framework for Diverse Legged Robot Locomotion Using Barrier-Based Style Rewards Gijeong Kim Yong-Hoon Lee Hae-Won Park 66 6 0 24 Sep 2024
Integrating Controllable Motion Skills from Demonstrations Honghao Liao Zhiheng Li Ziyu Meng Ran Song Yibin Li Wei Zhang 40 0 0 06 Aug 2024
PA-LOCO: Learning Perturbation-Adaptive Locomotion for Quadruped Robots Zhiyuan Xiao Xinyu Zhang Xiang Zhou Qingrui Zhang 61 3 0 05 Jul 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 53 17 0 03 Jun 2024
Rethinking Robustness Assessment: Adversarial Attacks on Learning-based Quadrupedal Locomotion Controllers Fan Shi Chong Zhang Takahiro Miki Joonho Lee Marco Hutter Stelian Coros AAML 74 12 0 21 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 Koushil Sreenath OffRL 87 28 0 30 Apr 2024
Impedance Matching: Enabling an RL-Based Running Jump in a Quadruped Robot Neil Guan Shangqun Yu Shifan Zhu Donghyun Kim 48 0 0 23 Apr 2024
GuLu XuanYuan , a biomimetic Transformer that intergrates humanoid MIP, reptile UGV, and bird UAV Le Chen Jie Yu XingWu Chen AI4CE 22 0 0 15 Apr 2024
Learning Visual Quadrupedal Loco-Manipulation from Demonstrations Zhengmao He Kun Lei Yanjie Ze Koushil Sreenath Zhongyu Li Huazhe Xu 71 15 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 Koushil Sreenath Masayoshi Tomizuka 87 3 0 29 Mar 2024
Leveraging Symmetry in RL-based Legged Locomotion Control Zhi Su Xiaoyu Huang Daniel Felipe Ordoñez Apraez Yunfei Li Zhongyu Li ... Giulio Turrisi Massimiliano Pontil Claudio Semini Yi Wu Koushil Sreenath 53 14 0 26 Mar 2024
Expert Composer Policy: Scalable Skill Repertoire for Quadruped Robots Guilherme Christmann Ying-Sheng Luo Wei-Chao Chen 39 0 0 18 Mar 2024
Whole-body Humanoid Robot Locomotion with Human Reference Qiang Zhang Peter Cui David Yan Jingkai Sun Yiqun Duan Arthur Zhang Renjing Xu 71 32 0 28 Feb 2024
Reinforcement Learning for Blind Stair Climbing with Legged and Wheeled-Legged Robots Simon Chamorro Victor Klemm M. I. Valls Christopher Pal Roland Siegwart 65 5 0 09 Feb 2024
Curriculum-Based Reinforcement Learning for Quadrupedal Jumping: A Reference-free Design Vassil Atanassov Jiatao Ding Jens Kober Ioannis Havoutis Cosimo Della Santina 32 8 0 29 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 55 1 0 22 Jan 2024
Learning Agile Bipedal Motions on a Quadrupedal Robot Yunfei Li Jinhan Li Wei Fu Yi Wu 64 9 0 10 Nov 2023
Unlock Reliable Skill Inference for Quadruped Adaptive Behavior by Skill Graph Hongyin Zhang Diyuan Shi Zifeng Zhuang Han Zhao Zhenyu Wei Feng Zhao Sibo Gai Shangke Lyu Donglin Wang 50 0 0 10 Nov 2023
Grow Your Limits: Continuous Improvement with Real-World RL for Robotic Locomotion Laura M. Smith Yunhao Cao Sergey Levine OffRL 38 19 0 26 Oct 2023
Plan-Guided Reinforcement Learning for Whole-Body Manipulation Mengchao Zhang Jose Barreiros Aykut Özgün Önol 52 4 0 18 Oct 2023
Guardians as You Fall: Active Mode Transition for Safe Falling Yikai Wang Mengdi Xu Guanya Shi Ding Zhao 41 7 0 07 Oct 2023
Generalized Animal Imitator: Agile Locomotion with Versatile Motion Prior Ruihan Yang Zhuoqun Chen Jianhan Ma Chongyi Zheng Yiyu Chen Quan Nguyen Xinze Wang 45 17 0 02 Oct 2023
HumanMimic: Learning Natural Locomotion and Transitions for Humanoid Robot via Wasserstein Adversarial Imitation Annan Tang Takuma Hiraoka Naoki Hiraoka Fan Shi Kento Kawaharazuka Kunio Kojima K. Okada Masayuki Inaba 52 26 0 25 Sep 2023
From Knowing to Doing: Learning Diverse Motor Skills through Instruction Learning Linqi Ye Jiayi Li Yi Cheng Xianhao Wang Bin Liang Yan Peng 35 7 0 17 Sep 2023
Versatile Multi-Contact Planning and Control for Legged Loco-Manipulation Jean-Pierre Sleiman Farbod Farshidian Marco Hutter 28 52 0 17 Aug 2023
Learning Terrain-Adaptive Locomotion with Agile Behaviors by Imitating Animals Tingguang Li Yizheng Zhang Chong Zhang Qing Zhu Jiapeng Sheng Wanchao Chi Cheng Zhou Lei Han 46 14 0 07 Aug 2023
A Population-Level Analysis of Neural Dynamics in Robust Legged Robots Eugene R. Rush Christoffer Heckman Kaushik Jayaram J. Humbert 45 0 0 27 Jun 2023
LeggedWalking on Inclined Surfaces Chenghao Wang 49 1 0 31 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 41 55 0 19 Apr 2023
A Survey of Demonstration Learning André Rosa de Sousa Porfírio Correia Luís A. Alexandre OffRL 38 18 0 20 Mar 2023
Learning Multimodal Bipedal Locomotion and Implicit Transitions: A Versatile Policy Approach Lokesh Krishna Quan Nguyen 72 2 0 10 Mar 2023
Robust and Versatile Bipedal Jumping Control through Reinforcement Learning Zhongyu Li Xue Bin Peng Pieter Abbeel Sergey Levine Glen Berseth Koushil Sreenath 55 39 0 19 Feb 2023
Walk These Ways: Tuning Robot Control for Generalization with Multiplicity of Behavior G. Margolis Pulkit Agrawal 43 159 0 06 Dec 2022
OPT-Mimic: Imitation of Optimized Trajectories for Dynamic Quadruped Behaviors Yuni Fuchioka Zhaoming Xie M. van de Panne 41 43 0 03 Oct 2022
Saving the Limping: Fault-tolerant Quadruped Locomotion via Reinforcement Learning Dikai Liu Tianwei Zhang Jianxiong Yin Simon See 98 5 0 02 Oct 2022
Versatile Skill Control via Self-supervised Adversarial Imitation of Unlabeled Mixed Motions Chenhao Li Sebastian Blaes Pavel Kolev Marin Vlastelica Jonas Frey Georg Martius SSL 54 30 0 16 Sep 2022
Learning Agile Skills via Adversarial Imitation of Rough Partial Demonstrations Chenhao Li Marin Vlastelica Sebastian Blaes Jonas Frey F. Grimminger Georg Martius 34 66 0 23 Jun 2022
Learning to Walk in Minutes Using Massively Parallel Deep Reinforcement Learning Nikita Rudin David Hoeller Philipp Reist Marco Hutter 124 556 0 24 Sep 2021
Whole-Body MPC and Online Gait Sequence Generation for Wheeled-Legged Robots Marko Bjelonic R. Grandia Oliver Harley Cla Galliard Samuel Zimmermann Marco Hutter 72 69 0 13 Oct 2020
DeepMimic: Example-Guided Deep Reinforcement Learning of Physics-Based Character Skills Xue Bin Peng Pieter Abbeel Sergey Levine M. van de Panne AI4CE 181 495 0 08 Apr 2018