RL + Model-based Control: Using On-demand Optimal Control to Learn Versatile Legged Locomotion

29 May 2023

Papers citing "RL + Model-based Control: Using On-demand Optimal Control to Learn Versatile Legged Locomotion"

25 / 25 papers shown

Title
RAMBO: RL-augmented Model-based Optimal Control for Whole-body Loco-manipulation Jin Cheng Dongho Kang Gabriele Fadini Guanya Shi Stelian Coros 28 1 0 09 Apr 2025
Synthesis of Model Predictive Control and Reinforcement Learning: Survey and Classification Rudolf Reiter Jasper Hoffmann D. Reinhardt Florian Messerer Katrin Baumgärtner Shamburaj Sawant Joschka Boedecker Moritz Diehl S. Gros 77 5 0 04 Feb 2025
Design and Control of a Bipedal Robotic Character Ruben Grandia Espen Knoop Michael A. Hopkins Georg Wiedebach Jared Bishop Steven Pickles David Müller Moritz Bächer 42 11 0 10 Jan 2025
Guided Reinforcement Learning for Robust Multi-Contact Loco-Manipulation Jean-Pierre Sleiman Mayank Mittal Marco Hutter 24 4 0 17 Oct 2024
Helpful DoggyBot: Open-World Object Fetching using Legged Robots and Vision-Language Models Qi Wu Zipeng Fu Xuxin Cheng Xiaolong Wang Chelsea Finn LM&Ro 26 8 0 30 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 3 0 25 Sep 2024
FSL-LVLM: Friction-Aware Safety Locomotion using Large Vision Language Model in Wheeled Robots Bo Peng D. Baek Qijie Wang Joao Ramos 21 0 0 15 Sep 2024
Mastering Agile Jumping Skills from Simple Practices with Iterative Learning Control Chuong H. Nguyen Lingfan Bao Quan Nguyen 31 1 0 05 Aug 2024
RL-augmented MPC Framework for Agile and Robust Bipedal Footstep Locomotion Planning and Control S. Bang Carlos Arribalzaga Jové Luis Sentis 16 2 0 25 Jul 2024
RobotKeyframing: Learning Locomotion with High-Level Objectives via Mixture of Dense and Sparse Rewards Fatemeh Zargarbashi Jin Cheng Dongho Kang Robert Sumner Stelian Coros 108 6 0 16 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 42 15 0 03 Jun 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 Reinforcement Learning for Bipedal Locomotion: A Brief Survey Lingfan Bao Josephine N. Humphreys Tianhu Peng Chengxu Zhou 65 5 0 25 Apr 2024
Spatio-Temporal Motion Retargeting for Quadruped Robots Taerim Yoon Dongho Kang Seungmin Kim Minsung Ahn Stelian Coros Sungjoon Choi 16 3 0 17 Apr 2024
Plan-Guided Reinforcement Learning for Whole-Body Manipulation Mengchao Zhang Jose Barreiros Aykut Özgün Önol 19 4 0 18 Oct 2023
Learning Agile Locomotion and Adaptive Behaviors via RL-augmented MPC Lydia Y. Chen Quan Nguyen 8 9 0 13 Oct 2023
Learning Diverse Skills for Local Navigation under Multi-constraint Optimality Jin Cheng Marin Vlastelica Pavel Kolev Chenhao Li Georg Martius 22 4 0 03 Oct 2023
Robot Parkour Learning Ziwen Zhuang Zipeng Fu Jianren Wang Christopher G Atkeson Soeren Schwertfeger Chelsea Finn Hang Zhao 32 138 0 11 Sep 2023
Learning to Navigate from Scratch using World Models and Curiosity: the Good, the Bad, and the Ugly Daria de Tinguy Sven Remmery Pietro Mazzaglia Tim Verbelen Bart Dhoedt 21 0 0 30 Aug 2023
DeepTransition: Viability Leads to the Emergence of Gait Transitions in Learning Anticipatory Quadrupedal Locomotion Skills M. Shafiee Guillaume Bellegarda A. Ijspeert 13 9 0 12 Jun 2023
Tuning Legged Locomotion Controllers via Safe Bayesian Optimization Daniel Widmer Dong-oh Kang Bhavya Sukhija Jonas Hubotter Andreas Krause Stelian Coros 13 14 0 12 Jun 2023
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 46 29 0 16 Sep 2022
TAMOLS: Terrain-Aware Motion Optimization for Legged Systems Fabian Jenelten R. Grandia Farbod Farshidian Marco Hutter 35 55 0 28 Jun 2022
Online Trajectory Optimization for Dynamic Aerial Motions of a Quadruped Robot Matthew Chignoli Sangbae Kim 46 26 0 12 Oct 2021
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