Rapid Locomotion via Reinforcement Learning

5 May 2022

Tao Chen

Papers citing "Rapid Locomotion via Reinforcement Learning"

50 / 143 papers shown

Title
Learning Bipedal Walking on a Quadruped Robot via Adversarial Motion Priors Tianhu Peng Lingfan Bao Joseph Humphreys Andromachi Maria Delfaki Dimitrios Kanoulas Chengxu Zhou 37 3 0 02 Jul 2024
Open-TeleVision: Teleoperation with Immersive Active Visual Feedback Xuxin Cheng Jialong Li Shiqi Yang Ge Yang Xiaolong Wang 59 93 0 01 Jul 2024
Demonstrating Agile Flight from Pixels without State Estimation Ismail Geles L. Bauersfeld Angel Romero Jiaxu Xing Davide Scaramuzza 29 22 0 18 Jun 2024
Humanoid Parkour Learning Ziwen Zhuang Shenzhe Yao Hang Zhao 32 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 26 4 0 07 Jun 2024
DrEureka: Language Model Guided Sim-To-Real Transfer Yecheng Jason Ma William Liang Hung-Ju Wang Sam Wang Yuke Zhu Linxi Fan Osbert Bastani Dinesh Jayaraman 69 37 0 04 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 42 15 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 37 12 0 21 May 2024
Learning Force Control for Legged Manipulation Tifanny Portela G. Margolis Yandong Ji Pulkit Agrawal 18 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 54 23 0 30 Apr 2024
Impedance Matching: Enabling an RL-Based Running Jump in a Quadruped Robot Neil Guan Shangqun Yu Shifan Zhu Donghyun Kim 24 0 0 23 Apr 2024
Rank2Reward: Learning Shaped Reward Functions from Passive Video Daniel Yang Davin Tjia Jacob Berg Dima Damen Pulkit Agrawal Abhishek Gupta OffRL 20 4 0 23 Apr 2024
Learning H-Infinity Locomotion Control Junfeng Long Wenye Yu Quanyi Li Zirui Wang Dahua Lin Jiangmiao Pang 28 7 0 22 Apr 2024
EgoPet: Egomotion and Interaction Data from an Animal's Perspective Amir Bar Arya Bakhtiar Danny Tran Antonio Loquercio Jathushan Rajasegaran Yann LeCun Amir Globerson Trevor Darrell EgoV 33 4 0 15 Apr 2024
Humanoid-Gym: Reinforcement Learning for Humanoid Robot with Zero-Shot Sim2Real Transfer Xinyang Gu Yen-Jen Wang Jianyu Chen 22 34 0 08 Apr 2024
CEAR: Comprehensive Event Camera Dataset for Rapid Perception of Agile Quadruped Robots Shifan Zhu Zixun Xiong Donghyun Kim 19 2 0 06 Apr 2024
Scaling Population-Based Reinforcement Learning with GPU Accelerated Simulation Asad Ali Shahid Yashraj S. Narang Vincenzo Petrone Enrico Ferrentino Ankur Handa Dieter Fox Marco Pavone L. Roveda 35 3 0 04 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 57 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 24 8 0 27 Mar 2024
MQE: Unleashing the Power of Interaction with Multi-agent Quadruped Environment Ziyan Xiong Bo Chen Shiyu Huang Weijuan Tu Zhaofeng He Yang Gao 27 4 0 24 Mar 2024
Learning Quadruped Locomotion Using Differentiable Simulation Yunlong Song Sangbae Kim Davide Scaramuzza 21 10 0 21 Mar 2024
Expert Composer Policy: Scalable Skill Repertoire for Quadruped Robots Guilherme Christmann Ying-Sheng Luo Wei-Chao Chen 14 0 0 18 Mar 2024
Quality-Diversity Actor-Critic: Learning High-Performing and Diverse Behaviors via Value and Successor Features Critics Luca Grillotti Maxence Faldor Borja G. León Antoine Cully 16 2 0 15 Mar 2024
Quadruped-Frog: Rapid Online Optimization of Continuous Quadruped Jumping Guillaume Bellegarda M. Shafiee Merih Ekin Özberk A. Ijspeert 25 9 0 11 Mar 2024
Toward Understanding Key Estimation in Learning Robust Humanoid Locomotion Zhicheng Wang Wandi Wei Ruiqi Yu Jun Wu Qiuguo Zhu 34 1 0 09 Mar 2024
Cafe-Mpc: A Cascaded-Fidelity Model Predictive Control Framework with Tuning-Free Whole-Body Control He Li Patrick M. Wensing 37 12 0 06 Mar 2024
Reconciling Reality through Simulation: A Real-to-Sim-to-Real Approach for Robust Manipulation M. Torné Anthony Simeonov Zechu Li April Chan Tao Chen Abhishek Gupta Pulkit Agrawal 42 51 0 06 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
Learning Quadrupedal Locomotion with Impaired Joints Using Random Joint Masking Mincheol Kim Ukcheol Shin Jung-Yup Kim 22 0 0 01 Mar 2024
Expressive Whole-Body Control for Humanoid Robots Xuxin Cheng Yandong Ji Junming Chen Ruihan Yang Ge Yang Xiaolong Wang 45 84 0 26 Feb 2024
Learning Highly Dynamic Behaviors for Quadrupedal Robots Chong Zhang Jiapeng Sheng Tingguang Li He Zhang Cheng Zhou Qing Zhu Rui Zhao Yizheng Zhang Lei Han 21 5 0 21 Feb 2024
Agile But Safe: Learning Collision-Free High-Speed Legged Locomotion Tairan He Chong Zhang Wenli Xiao Guanqi He Changliu Liu Guanya Shi 23 55 0 31 Jan 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 25 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 17 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 14 4 0 29 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 60 25 0 18 Dec 2023
MPC-Inspired Reinforcement Learning for Verifiable Model-Free Control Yiwen Lu Zishuo Li Yihan Zhou Na Li Yilin Mo 17 2 0 08 Dec 2023
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 5 0 04 Nov 2023
Learning to See Physical Properties with Active Sensing Motor Policies G. Margolis Xiang Fu Yandong Ji Pulkit Agrawal 15 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 41 6 0 02 Nov 2023
Grow Your Limits: Continuous Improvement with Real-World RL for Robotic Locomotion Laura M. Smith Yunhao Cao Sergey Levine OffRL 10 18 0 26 Oct 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 14 2 0 24 Oct 2023
Eureka: Human-Level Reward Design via Coding Large Language Models Yecheng Jason Ma William Liang Guanzhi Wang De-An Huang Osbert Bastani Dinesh Jayaraman Yuke Zhu Linxi Fan A. Anandkumar 19 286 0 19 Oct 2023
ManyQuadrupeds: Learning a Single Locomotion Policy for Diverse Quadruped Robots M. Shafiee Guillaume Bellegarda A. Ijspeert 16 15 0 16 Oct 2023
Reinforcement Learning for Reduced-order Models of Legged Robots Yu-Ming Chen Hien Bui Michael Posa 8 2 0 15 Oct 2023
Learning Agile Locomotion and Adaptive Behaviors via RL-augmented MPC Lydia Y. Chen Quan Nguyen 6 9 0 13 Oct 2023
SYNLOCO: Synthesizing Central Pattern Generator and Reinforcement Learning for Quadruped Locomotion Xinyu Zhang Zhiyuan Xiao Qingrui Zhang Wei Pan 21 4 0 10 Oct 2023
Guardians as You Fall: Active Mode Transition for Safe Falling Yikai Wang Mengdi Xu Guanya Shi Ding Zhao 11 3 0 07 Oct 2023
Automated Gait Generation For Walking, Soft Robotic Quadrupeds Jake Ketchum Sophia Schiffer Muchen Sun Pranav Kaarthik R. Truby Todd D. Murphey 13 4 0 30 Sep 2023
Extreme Parkour with Legged Robots Xuxin Cheng Kexin Shi Ananye Agarwal Deepak Pathak 17 146 0 25 Sep 2023