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2211.00458
Cited By
CPG-RL: Learning Central Pattern Generators for Quadruped Locomotion
IEEE Robotics and Automation Letters (RA-L), 2022
1 November 2022
Guillaume Bellegarda
A. Ijspeert
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Papers citing
"CPG-RL: Learning Central Pattern Generators for Quadruped Locomotion"
45 / 45 papers shown
Learning Omnidirectional Locomotion for a Salamander-Like Quadruped Robot
Zhiang Liu
Yang Liu
Yongchun Fang
X. Guo
209
0
0
11 Nov 2025
VOCALoco: Viability-Optimized Cost-aware Adaptive Locomotion
Stanley Wu
Mohamad H. Danesh
Simon Li
Hanna Yurchyk
Amin Abyaneh
Anas El Houssaini
David Meger
Hsiu-Chin Lin
108
0
0
28 Oct 2025
PGTT: Phase-Guided Terrain Traversal for Perceptive Legged Locomotion
Alexandros Ntagkas
Chairi Kiourt
Konstantinos Chatzilygeroudis
84
0
0
21 Oct 2025
Coordinated Humanoid Robot Locomotion with Symmetry Equivariant Reinforcement Learning Policy
Buqing Nie
Yang Zhang
Rongjun Jin
Zhanxiang Cao
Huangxuan Lin
Xiaokang Yang
Yue Gao
206
1
0
02 Aug 2025
Disturbance-Aware Adaptive Compensation in Hybrid Force-Position Locomotion Policy for Legged Robots
Yang Zhang
Buqing Nie
Zhanxiang Cao
Y. Fu
Yue Gao
140
3
0
31 May 2025
Reduce Computational Cost In Deep Reinforcement Learning Via Randomized Policy Learning
Zhuochen Liu
Rahul Jain
Quan Nguyen
160
0
0
25 May 2025
Music-Driven Legged Robots: Synchronized Walking to Rhythmic Beats
IEEE International Conference on Robotics and Automation (ICRA), 2025
Taixian Hou
Yueqi Zhang
Xiaoyi Wei
Zhiyan Dong
Jiafu Yi
Peng Zhai
Lihua Zhang
212
0
0
06 Mar 2025
SpikingSoft: A Spiking Neuron Controller for Bio-inspired Locomotion with Soft Snake Robots
International Conference on Soft Robotics (RoboSoft), 2025
Chuhan Zhang
Cong Wang
Wei Pan
Cosimo Della Santina
404
1
0
31 Jan 2025
AllGaits: Learning All Quadruped Gaits and Transitions
IEEE International Conference on Robotics and Automation (ICRA), 2024
Guillaume Bellegarda
M. Shafiee
A. Ijspeert
275
4
0
07 Nov 2024
Online Optimization of Central Pattern Generators for Quadruped Locomotion
IEEE/RJS International Conference on Intelligent RObots and Systems (IROS), 2024
Zewei Zhang
Guillaume Bellegarda
M. Shafiee
A. Ijspeert
207
7
0
21 Oct 2024
Learning to Walk from Three Minutes of Real-World Data with Semi-structured Dynamics Models
Conference on Robot Learning (CoRL), 2024
Jacob Levy
T. Westenbroek
David Fridovich-Keil
324
15
0
11 Oct 2024
Dynamic Object Catching with Quadruped Robot Front Legs
IEEE/RJS International Conference on Intelligent RObots and Systems (IROS), 2024
André Schakkal
Guillaume Bellegarda
A. Ijspeert
286
2
0
10 Oct 2024
Neural Circuit Architectural Priors for Quadruped Locomotion
Nikhil X. Bhattasali
Venkatesh Pattabiraman
Lerrel Pinto
Grace W. Lindsay
160
2
0
09 Oct 2024
Multilingual Topic Classification in X: Dataset and Analysis
Conference on Empirical Methods in Natural Language Processing (EMNLP), 2024
Dimosthenis Antypas
Asahi Ushio
Francesco Barbieri
Jose Camacho-Collados
226
10
0
04 Oct 2024
Behavior evolution-inspired approach to walking gait reinforcement training for quadruped robots
Yu Wang
Wenchuan Jia
Yi Sun
Dong He
134
0
0
25 Sep 2024
A Learning Framework for Diverse Legged Robot Locomotion Using Barrier-Based Style Rewards
IEEE International Conference on Robotics and Automation (ICRA), 2024
Gijeong Kim
Yong-Hoon Lee
Hae-Won Park
413
10
0
24 Sep 2024
Hierarchical learning control for autonomous robots inspired by central nervous system
Pei Zhang
Zhaobo Hua
Jinliang Ding
165
0
0
07 Aug 2024
Learning Human-Robot Handshaking Preferences for Quadruped Robots
Alessandra Chappuis
Guillaume Bellegarda
A. Ijspeert
212
2
0
28 Jun 2024
Optimal Gait Design for a Soft Quadruped Robot via Multi-fidelity Bayesian Optimization
Kaige Tan
Xuezhi Niu
Qinglei Ji
Lei Feng
Martin Törngren
204
7
0
11 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
316
23
0
03 Jun 2024
Learning-based Hierarchical Control: Emulating the Central Nervous System for Bio-Inspired Legged Robot Locomotion
Ge Sun
M. Shafiee
Peizhuo Li
Guillaume Bellegarda
A. Ijspeert
Guillaume Sartoretti
227
5
0
27 Apr 2024
CaT: Constraints as Terminations for Legged Locomotion Reinforcement Learning
Elliot Chane-Sane
Pierre-Alexandre Leziart
T. Flayols
O. Stasse
Philippe Souères
Nicolas Mansard
317
22
0
27 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
367
26
0
26 Mar 2024
Quadruped-Frog: Rapid Online Optimization of Continuous Quadruped Jumping
IEEE International Conference on Robotics and Automation (ICRA), 2024
Guillaume Bellegarda
M. Shafiee
Merih Ekin Özberk
A. Ijspeert
234
14
0
11 Mar 2024
Symmetry Considerations for Learning Task Symmetric Robot Policies
Mayank Mittal
Nikita Rudin
Victor Klemm
Arthur Allshire
Marco Hutter
213
32
0
07 Mar 2024
Learning Emergent Gaits with Decentralized Phase Oscillators: on the role of Observations, Rewards, and Feedback
Jenny Zhang
Steve Heim
Seungmin Jeon
Sangbae Kim
254
4
0
13 Feb 2024
Snake Robot with Tactile Perception Navigates on Large-scale Challenging Terrain
IEEE International Conference on Robotics and Automation (ICRA), 2023
Shuo Jiang
Adarsh Salagame
Alireza Ramezani
Lawson Wong
178
9
0
06 Dec 2023
Hierarchical RL-Guided Large-scale Navigation of a Snake Robot
IEEE International Conference on Advanced Intelligent Mechatronics (AIM), 2023
Shuo Jiang
Adarsh Salagame
Alireza Ramezani
Lawson Wong
249
13
0
06 Dec 2023
A Central Motor System Inspired Pre-training Reinforcement Learning for Robotic Control
Pei Zhang
Zhaobo Hua
Jinliang Ding
365
0
0
14 Nov 2023
ManyQuadrupeds: Learning a Single Locomotion Policy for Diverse Quadruped Robots
IEEE International Conference on Robotics and Automation (ICRA), 2023
M. Shafiee
Guillaume Bellegarda
A. Ijspeert
346
39
0
16 Oct 2023
Terrain-adaptive Central Pattern Generators with Reinforcement Learning for Hexapod Locomotion
ACM Cloud and Autonomic Computing Conference (CAC), 2023
Qiyue Yang
Yue Gao
Shaoyuan Li
145
3
0
11 Oct 2023
SYNLOCO: Synthesizing Central Pattern Generator and Reinforcement Learning for Quadruped Locomotion
IEEE Conference on Decision and Control (CDC), 2023
Xinyu Zhang
Zhiyuan Xiao
Qingrui Zhang
Wei Pan
159
8
0
10 Oct 2023
An Open-Loop Baseline for Reinforcement Learning Locomotion Tasks
Antonin Raffin
Olivier Sigaud
Jens Kober
Alin Albu-Schäffer
João Silvério
F. Stulp
177
4
0
09 Oct 2023
Identifying Important Sensory Feedback for Learning Locomotion Skills
Nature Machine Intelligence (Nat. Mach. Intell.), 2023
Wanming Yu
Chuanyu Yang
C. McGreavy
Eleftherios Triantafyllidis
Guillaume Bellegarda
M. Shafiee
A. Ijspeert
Zhibin Li
205
20
0
29 Jun 2023
SayTap: Language to Quadrupedal Locomotion
Conference on Robot Learning (CoRL), 2023
Yujin Tang
Wenhao Yu
Jie Tan
Heiga Zen
Aleksandra Faust
Tatsuya Harada
297
58
0
13 Jun 2023
DeepTransition: Viability Leads to the Emergence of Gait Transitions in Learning Anticipatory Quadrupedal Locomotion Skills
M. Shafiee
Guillaume Bellegarda
A. Ijspeert
207
10
0
12 Jun 2023
Mechanical Intelligence Simplifies Control in Terrestrial Limbless Locomotion
Science Robotics (Sci. Robot.), 2023
Tianyu Wang
C. Pierce
Velin Kojouharov
Baxi Chong
Kelimar Diaz
Hang Lu
Daniel I. Goldman
145
50
0
17 Apr 2023
Bipedal Robot Running: Human-like Actuation Timing Using Fast and Slow Adaptations
Yusuke Sakurai
Tomoya Kamimura
Y. Sakamoto
Shohei Nishii
Kodai Sato
Yuta Fujiwara
Akihito Sano
AI4CE
83
5
0
02 Mar 2023
Puppeteer and Marionette: Learning Anticipatory Quadrupedal Locomotion Based on Interactions of a Central Pattern Generator and Supraspinal Drive
IEEE International Conference on Robotics and Automation (ICRA), 2023
M. Shafiee
Guillaume Bellegarda
A. Ijspeert
216
20
0
26 Feb 2023
DeepCPG Policies for Robot Locomotion
IEEE Transactions on Cognitive and Developmental Systems (IEEE TCDS), 2023
Aditya M. Deshpande
Eric Hurd
A. Minai
Manish Kumar
119
12
0
25 Feb 2023
Robust and Versatile Bipedal Jumping Control through Reinforcement Learning
Zhongyu Li
Xue Bin Peng
Pieter Abbeel
Sergey Levine
Glen Berseth
Koushil Sreenath
222
64
0
19 Feb 2023
Visual CPG-RL: Learning Central Pattern Generators for Visually-Guided Quadruped Locomotion
IEEE International Conference on Robotics and Automation (ICRA), 2022
Guillaume Bellegarda
M. Shafiee
A. Ijspeert
353
21
0
29 Dec 2022
Learning to Exploit Elastic Actuators for Quadruped Locomotion
Antonin Raffin
D. Seidel
Jens Kober
Alin Albu-Schäffer
João Silvério
F. Stulp
177
6
0
15 Sep 2022
Reinforcement Learning of CPG-regulated Locomotion Controller for a Soft Snake Robot
IEEE Transactions on robotics (TRO), 2022
Xuan Liu
C. Onal
Jie Fu
154
28
0
11 Jul 2022
Robust Quadruped Jumping via Deep Reinforcement Learning
Guillaume Bellegarda
Chuong H. Nguyen
Quan Nguyen
318
81
0
13 Nov 2020
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