Real-World Humanoid Locomotion with Reinforcement Learning

6 March 2023

Papers citing "Real-World Humanoid Locomotion with Reinforcement Learning"

50 / 81 papers shown

Title
HuB: Learning Extreme Humanoid Balance Tong Zhang Boyuan Zheng Ruiqian Nai Yingdong Hu Yen-Jen Wang ... Fanqi Lin Jiongye Li Chuye Hong K. Sreenath Yang Gao 13 0 0 12 May 2025
JAEGER: Dual-Level Humanoid Whole-Body Controller Ziluo Ding Haobin Jiang Yuxuan Wang Zhenguo Sun Yu Zhang Xiaojie Niu M. Yang Weishuai Zeng Xinrun Xu Zongqing Lu 16 0 0 10 May 2025
Let Humanoids Hike! Integrative Skill Development on Complex Trails Kwan-Yee Lin Stella X.Yu 19 0 0 09 May 2025
Visual Imitation Enables Contextual Humanoid Control Arthur Allshire Hongsuk Choi Junyi Zhang David McAllister Anthony Zhang C. Kim Trevor Darrell Pieter Abbeel Jitendra Malik Angjoo Kanazawa LM&Ro 42 0 0 06 May 2025
TWIST: Teleoperated Whole-Body Imitation System Yanjie Ze Zixuan Chen Joao Pedro Araujo Zi-ang Cao Xue Bin Peng Jiajun Wu Chao Liu 30 0 0 05 May 2025
LangWBC: Language-directed Humanoid Whole-Body Control via End-to-end Learning Yiyang Shao Xiaoyu Huang Bike Zhang Qiayuan Liao Yuman Gao Yufeng Chi Zhongyu Li Sophia Shao K. Sreenath LM&Ro 54 0 0 30 Apr 2025
PreCi: Pretraining and Continual Improvement of Humanoid Locomotion via Model-Assumption-Based Regularization Hyunyoung Jung Zhaoyuan Gu Ye Zhao Hae-Won Park Sehoon Ha 24 0 0 14 Apr 2025
Spectral Normalization for Lipschitz-Constrained Policies on Learning Humanoid Locomotion Jaeyong Shin Woohyun Cha Donghyeon Kim Junhyeok Cha Jaeheung Park 26 0 0 11 Apr 2025
RAMBO: RL-augmented Model-based Optimal Control for Whole-body Loco-manipulation Jin Cheng Dongho Kang Gabriele Fadini Guanya Shi Stelian Coros 28 0 0 09 Apr 2025
Physical Plausibility-aware Trajectory Prediction via Locomotion Embodiment Hiromu Taketsugu Takeru Oba Takahiro Maeda Shohei Nobuhara Norimichi Ukita 42 0 0 21 Mar 2025
Understanding the Generalization of In-Context Learning in Transformers: An Empirical Study Xingxuan Zhang Haoran Wang Jiansheng Li Yuan Xue Shikai Guan Renzhe Xu Hao Zou Han Yu Peng Cui 45 0 0 19 Mar 2025
Being-0: A Humanoid Robotic Agent with Vision-Language Models and Modular Skills Haoqi Yuan Yu Bai Yuhui Fu Bohan Zhou Yicheng Feng Xinrun Xu Yi Zhan Börje F. Karlsson Zongqing Lu LM&Ro 74 0 0 16 Mar 2025
ArticuBot: Learning Universal Articulated Object Manipulation Policy via Large Scale Simulation Yufei Wang Ziyu Wang Mino Nakura Pratik Bhowal Chia-Liang Kuo Yi-Ting Chen Zackory M. Erickson David Held 56 0 0 04 Mar 2025
Interactive Navigation for Legged Manipulators with Learned Arm-Pushing Controller Zhihai Bi Kai-Peng Chen Chunxin Zheng Y. Li Haoang Li Jun Ma 53 0 0 03 Mar 2025
TACO: General Acrobatic Flight Control via Target-and-Command-Oriented Reinforcement Learning Zikang Yin CanLun Zheng Shiliang Guo Z. Wang Shiyu Zhao 66 0 0 03 Mar 2025
Learning Perceptive Humanoid Locomotion over Challenging Terrain Wandong Sun Baoshi Cao L. Chen Yongbo Su Yang Liu Zongwu Xie Hong Liu 55 0 0 02 Mar 2025
HWC-Loco: A Hierarchical Whole-Body Control Approach to Robust Humanoid Locomotion Sixu Lin Guanren Qiao Yunxin Tai Ang Li K. Jia Guiliang Liu 34 0 0 02 Mar 2025
Sim-to-Real Reinforcement Learning for Vision-Based Dexterous Manipulation on Humanoids Toru Lin Kartik Sachdev Linxi Fan Jitendra Malik Yuke Zhu 44 5 0 27 Feb 2025
Think on your feet: Seamless Transition between Human-like Locomotion in Response to Changing Commands Huaxing Huang Wenhao Cui Tonghe Zhang Shengtao Li Jinchao Han ... Chenxu Hu Ning Yan Jiahao Chen Shipu Zhang Zheyuan Jiang 57 1 0 26 Feb 2025
Learning Humanoid Locomotion with World Model Reconstruction Wandong Sun L. Chen Yongbo Su Baoshi Cao Yang Liu Zongwu Xie 48 1 0 22 Feb 2025
Learning Getting-Up Policies for Real-World Humanoid Robots Xialin He Runpei Dong Zixuan Chen Saurabh Gupta 67 4 0 17 Feb 2025
Bridging the Sim-to-Real Gap for Athletic Loco-Manipulation Nolan Fey G. Margolis Martin Peticco Pulkit Agrawal 47 1 0 15 Feb 2025
ASAP: Aligning Simulation and Real-World Physics for Learning Agile Humanoid Whole-Body Skills Tairan He J. Gao Wenli Xiao Y. Zhang Zi Wang ... Jessica Hodgins Linxi Fan Yuke Zhu Changliu Liu Guanya Shi 73 7 0 03 Feb 2025
Learning to Hop for a Single-Legged Robot with Parallel Mechanism Hongbo Zhang X. Chu Yanlin Chen Yunxi Tang Linzhu Yue Yun-hui Liu K. W. S. Au 30 0 0 21 Jan 2025
Weber-Fechner Law in Temporal Difference learning derived from Control as Inference Keiichiro Takahashi Taisuke Kobayashi Tomoya Yamanokuchi Takamitsu Matsubara 26 0 0 31 Dec 2024
LEASE: Offline Preference-based Reinforcement Learning with High Sample Efficiency Xiao-Yin Liu Guotao Li Xiao-Hu Zhou Z. Hou OffRL 34 0 0 31 Dec 2024
Scalable Hierarchical Reinforcement Learning for Hyper Scale Multi-Robot Task Planning Xuan Zhou Xiang Shi Lele Zhang C. L. P. Chen Hongbo Li Lin Ma Fang Deng Jie Chen 26 0 0 27 Dec 2024
Human-Humanoid Robots Cross-Embodiment Behavior-Skill Transfer Using Decomposed Adversarial Learning from Demonstration Junjia Liu Z. Li Minghao Yu Zhipeng Dong Sylvain Calinon Darwin G. Caldwell Fei Chen 70 1 0 19 Dec 2024
Learning from Massive Human Videos for Universal Humanoid Pose Control Jiageng Mao Siheng Zhao Siqi Song Tianheng Shi Junjie Ye Mingtong Zhang Haoran Geng Jitendra Malik Vitor Campagnolo Guizilini Yue Wang 85 5 0 18 Dec 2024
Efficient Language-instructed Skill Acquisition via Reward-Policy Co-Evolution Changxin Huang Yanbin Chang Junfan Lin Junyang Liang Runhao Zeng Jianqiang Li 70 0 0 18 Dec 2024
Stabilizing Reinforcement Learning in Differentiable Multiphysics Simulation Eliot Xing Vernon Luk Jean Oh 82 0 0 16 Dec 2024
Whole-body MPC and sensitivity analysis of a real time foot step sequencer for a biped robot Bolt Constant Roux Côme Perrot Olivier Stasse 61 1 0 02 Dec 2024
Transformer-Based Fault-Tolerant Control for Fixed-Wing UAVs Using Knowledge Distillation and In-Context Adaptation Francisco Giral Ignacio Gómez Ricardo Vinuesa S. L. Clainche 32 0 0 05 Nov 2024
ManiBox: Enhancing Spatial Grasping Generalization via Scalable Simulation Data Generation Hengkai Tan Xuezhou Xu Chengyang Ying Xinyi Mao Songming Liu Xingxing Zhang Hang Su J. Zhu 35 4 0 04 Nov 2024
The Role of Domain Randomization in Training Diffusion Policies for Whole-Body Humanoid Control Oleg Kaidanov Firas Al-Hafez Yusuf Suvari Boris Belousov Jan Peters 25 0 0 02 Nov 2024
HOVER: Versatile Neural Whole-Body Controller for Humanoid Robots Tairan He Wenli Xiao Toru Lin Zhengyi Luo Zhenjia Xu ... Changliu Liu Guanya Shi Xiaolong Wang Linxi Fan Yuke Zhu 33 20 0 28 Oct 2024
Learning Smooth Humanoid Locomotion through Lipschitz-Constrained Policies Zixuan Chen Xialin He Yen-Jen Wang Qiayuan Liao Yanjie Ze ... S. Sastry Jiajun Wu K. Sreenath Saurabh Gupta Xue Bin Peng 55 17 0 15 Oct 2024
Boosting Camera Motion Control for Video Diffusion Transformers Soon Yau Cheong Duygu Ceylan Armin Mustafa Andrew Gilbert C. Huang DiffM VGen 62 11 0 14 Oct 2024
Feedback Favors the Generalization of Neural ODEs Jindou Jia Zihan Yang Meng Wang Kexin Guo Jianfei Yang Xiang Yu Lei Guo OOD AI4CE 35 2 0 14 Oct 2024
Automated Creation of Digital Cousins for Robust Policy Learning Tianyuan Dai Josiah Wong Yunfan Jiang Chen Wang Cem Gokmen Ruohan Zhang Jiajun Wu Li Fei-Fei 31 19 0 09 Oct 2024
Synthesizing Interpretable Control Policies through Large Language Model Guided Search Carlo Bosio Mark W. Mueller 15 0 0 07 Oct 2024
Learning Humanoid Locomotion over Challenging Terrain Ilija Radosavovic Sarthak Kamat Trevor Darrell Jitendra Malik 22 12 0 04 Oct 2024
Opt2Skill: Imitating Dynamically-feasible Whole-Body Trajectories for Versatile Humanoid Loco-Manipulation Fukang Liu Zhaoyuan Gu Yilin Cai Ziyi Zhou Shijie Zhao Hyunyoung Jung Sehoon Ha Yue Chen Danfei Xu Ye Zhao 29 10 0 30 Sep 2024
The Duke Humanoid: Design and Control For Energy Efficient Bipedal Locomotion Using Passive Dynamics Boxi Xia Bokuan Li Jacob Lee Michael Scutari Boyuan Chen AI4CE 22 4 0 29 Sep 2024
LiRA: Light-Robust Adversary for Model-based Reinforcement Learning in Real World Taisuke Kobayashi 63 2 0 29 Sep 2024
Achieving Stable High-Speed Locomotion for Humanoid Robots with Deep Reinforcement Learning Xinming Zhang Xianghui Wang Lerong Zhang Guodong Guo Xiaoyu Shen Wei Zhang 18 0 0 25 Sep 2024
Terrain-Aware Model Predictive Control of Heterogeneous Bipedal and Aerial Robot Coordination for Search and Rescue Tasks Abdulaziz Shamsah Jesse Jiang Ziwon Yoon Samuel Coogan Ye Zhao 26 1 0 23 Sep 2024
Learning Koopman Dynamics for Safe Legged Locomotion with Reinforcement Learning-based Controller Jeonghwan Kim Yunhai Han H. Ravichandar Sehoon Ha 40 2 0 23 Sep 2024
Uncovering the Secrets of Human-Like Movement: A Fresh Perspective on Motion Planning Lei Shi Qichao Liu Cheng Zhou Wentao Gao Haotian Wu Yu Zheng Xiong Li 13 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 19 0 0 15 Sep 2024