Real-World Humanoid Locomotion with Reinforcement Learning

6 March 2023

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

31 / 81 papers shown

Title
One Policy to Run Them All: an End-to-end Learning Approach to Multi-Embodiment Locomotion Nico Bohlinger Grzegorz Czechmanowski Maciej Krupka Piotr Kicki Krzysztof Walas Jan Peters Davide Tateo 42 11 0 10 Sep 2024
Rapid and Robust Trajectory Optimization for Humanoids Bohao Zhang Ram Vasudevan 36 4 0 31 Aug 2024
Berkeley Humanoid: A Research Platform for Learning-based Control Qiayuan Liao Bike Zhang Xuanyu Huang Xiaoyu Huang Zhongyu Li K. Sreenath 27 21 0 31 Jul 2024
PoliFormer: Scaling On-Policy RL with Transformers Results in Masterful Navigators Kuo-Hao Zeng Zichen Zhang Kiana Ehsani Rose Hendrix Jordi Salvador Alvaro Herrasti Ross Girshick Aniruddha Kembhavi Luca Weihs LM&Ro OffRL 29 17 0 28 Jun 2024
Socially Acceptable Bipedal Robot Navigation via Social Zonotope Network Model Predictive Control Abdulaziz Shamsah Krishanu Agarwal Nigam Katta Abirath Raju Shreyas Kousik Ye Zhao 29 2 0 24 Jun 2024
HYPERmotion: Learning Hybrid Behavior Planning for Autonomous Loco-manipulation Jin Wang Rui Dai Weijie Wang Luca Rossini Francesco Ruscelli Nikos Tsagarakis 26 4 0 20 Jun 2024
OmniH2O: Universal and Dexterous Human-to-Humanoid Whole-Body Teleoperation and Learning Tairan He Zhengyi Luo Xialin He Wenli Xiao Chong Zhang Weinan Zhang Kris M. Kitani Changliu Liu Guanya Shi 33 67 0 13 Jun 2024
WoCoCo: Learning Whole-Body Humanoid Control with Sequential Contacts Chong Zhang Wenli Xiao Tairan He Guanya Shi 37 40 0 10 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
Data-Efficient Approach to Humanoid Control via Fine-Tuning a Pre-Trained GPT on Action Data Siddharth Padmanabhan Kazuki Miyazawa Takato Horii Takayuki Nagai 23 0 0 29 May 2024
Learning Generic and Dynamic Locomotion of Humanoids Across Discrete Terrains Shangqun Yu Nisal Perera Daniel Marew Donghyun Kim 19 1 0 27 May 2024
Deep Dive into Model-free Reinforcement Learning for Biological and Robotic Systems: Theory and Practice Yusheng Jiao Feng Ling Sina Heydari N. Heess J. Merel Eva Kanso 20 0 0 19 May 2024
TRANSIC: Sim-to-Real Policy Transfer by Learning from Online Correction Yunfan Jiang Chen Wang Ruohan Zhang Jiajun Wu Fei-Fei Li OnRL 30 25 0 16 May 2024
Learning Robot Soccer from Egocentric Vision with Deep Reinforcement Learning Dhruva Tirumala Markus Wulfmeier Ben Moran Sandy Huang Jan Humplik ... Kushal Patel Marlon Gwira Francesco Nori Martin Riedmiller N. Heess 25 10 0 03 May 2024
A Survey of Optimization-based Task and Motion Planning: From Classical To Learning Approaches Zhigen Zhao Shuo Cheng Yan Ding Ziyi Zhou Shiqi Zhang Danfei Xu Ye Zhao 33 21 0 03 Apr 2024
Humanoid Locomotion as Next Token Prediction Ilija Radosavovic Bike Zhang Baifeng Shi Jathushan Rajasegaran Sarthak Kamat Trevor Darrell K. Sreenath Jitendra Malik LM&Ro 25 61 0 29 Feb 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
Reinforcement Learning for Versatile, Dynamic, and Robust Bipedal Locomotion Control Zhongyu Li Xue Bin Peng Pieter Abbeel Sergey Levine Glen Berseth K. Sreenath 14 74 0 30 Jan 2024
FoMo Rewards: Can we cast foundation models as reward functions? Ekdeep Singh Lubana Johann Brehmer P. D. Haan Taco S. Cohen OffRL LRM 33 2 0 06 Dec 2023
Robot Learning in the Era of Foundation Models: A Survey Xuan Xiao Jiahang Liu Zhipeng Wang Yanmin Zhou Yong Qi Qian Cheng Bin He Shuo Jiang AI4CE LM&Ro 16 25 0 24 Nov 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 17 42 0 24 Aug 2023
Decentralized Motor Skill Learning for Complex Robotic Systems Yanjiang Guo Zheyuan Jiang Yen-Jen Wang Jingyue Gao Jianyu Chen 6 6 0 30 Jun 2023
Towards Generalist Robots: A Promising Paradigm via Generative Simulation Zhou Xian Théophile Gervet Zhenjia Xu Yi-Ling Qiao Tsun-Hsuan Wang Yian Wang LM&Ro 52 6 0 17 May 2023
Learning Bipedal Walking for Humanoids with Current Feedback R. P. Singh Zhaoming Xie P. Gergondet F. Kanehiro 21 28 0 07 Mar 2023
A Learning-Based Estimation and Control Framework for Contact-Intensive Tight-Tolerance Tasks Bukun Son Hyelim Choi Jeamin Yoon Dongjun Lee 28 0 0 11 Oct 2022
Saving the Limping: Fault-tolerant Quadruped Locomotion via Reinforcement Learning Dikai Liu Tianwei Zhang Jianxiong Yin Simon See 85 5 0 02 Oct 2022
Invariant Filtering for Legged Humanoid Locomotion on Dynamic Rigid Surfaces Yuan Gao C. Yuan Yan Gu 16 19 0 25 Jan 2022
Learning to Walk in Minutes Using Massively Parallel Deep Reinforcement Learning N. Rudin David Hoeller Philipp Reist Marco Hutter 108 535 0 24 Sep 2021
Reinforcement Learning With Sparse-Executing Actions via Sparsity Regularization Jing-Cheng Pang Tian Xu Shengyi Jiang Yu-Ren Liu Yang Yu 10 0 0 18 May 2021
Scaling Laws for Neural Language Models Jared Kaplan Sam McCandlish T. Henighan Tom B. Brown B. Chess R. Child Scott Gray Alec Radford Jeff Wu Dario Amodei 226 4,424 0 23 Jan 2020
CAD2RL: Real Single-Image Flight without a Single Real Image Fereshteh Sadeghi Sergey Levine SSL 216 808 0 13 Nov 2016