DTC: Deep Tracking Control

27 September 2023

Marco Hutter

Papers citing "DTC: Deep Tracking Control"

50 / 55 papers shown

Title
Versatile, Robust, and Explosive Locomotion with Rigid and Articulated Compliant Quadrupeds Jiatao Ding Peiyu Yang Fabio Boekel Jens Kober Wei Pan Matteo Saveriano Cosimo Della Santina 24 0 0 17 Apr 2025
Neural Fidelity Calibration for Informative Sim-to-Real Adaptation Youwei Yu Lantao Liu 35 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 30 1 0 09 Apr 2025
Distillation-PPO: A Novel Two-Stage Reinforcement Learning Framework for Humanoid Robot Perceptive Locomotion Qiang Zhang Gang Han Jingkai Sun Wen Zhao Chenghao Sun Jiahang Cao Jiaxu Wang Yijie Guo Renjing Xu 46 0 0 11 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
Learning Humanoid Locomotion with World Model Reconstruction Wandong Sun L. Chen Yongbo Su Baoshi Cao Yang Liu Zongwu Xie 53 1 0 22 Feb 2025
Learning Quiet Walking for a Small Home Robot Ryo Watanabe Takahiro Miki Fan Shi Yuki Kadokawa Filip Bjelonic Kento Kawaharazuka Andrei Cramariuc Marco Hutter 36 1 0 16 Feb 2025
DexTrack: Towards Generalizable Neural Tracking Control for Dexterous Manipulation from Human References Xueyi Liu Jianibieke Adalibieke Qianwei Han Yuzhe Qin Li Yi 68 3 0 13 Feb 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 79 5 0 04 Feb 2025
Exploiting Hybrid Policy in Reinforcement Learning for Interpretable Temporal Logic Manipulation Hao Zhang Hao Wang Xiucai Huang Wenrui Chen Z. Kan 36 0 0 31 Dec 2024
Mimicking-Bench: A Benchmark for Generalizable Humanoid-Scene Interaction Learning via Human Mimicking Yun-Hai Liu Bowen Yang Licheng Zhong He Wang Li Yi 37 5 0 23 Dec 2024
Planning-Guided Diffusion Policy Learning for Generalizable Contact-Rich Bimanual Manipulation Xuanlin Li Tong Zhao Xinghao Zhu Jiuguang Wang Tao Pang Kuan Fang 82 4 0 03 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 69 1 0 02 Dec 2024
Guided Reinforcement Learning for Robust Multi-Contact Loco-Manipulation Jean-Pierre Sleiman Mayank Mittal Marco Hutter 32 4 0 17 Oct 2024
AFlow: Automating Agentic Workflow Generation Jiayi Zhang Jinyu Xiang Zhaoyang Yu Fengwei Teng Xionghui Chen ... Jinlin Wang Bingnan Zheng Bang Liu Yuyu Luo Chenglin Wu AIFin AI4CE 27 30 0 14 Oct 2024
Multilingual Topic Classification in X: Dataset and Analysis Dimosthenis Antypas Asahi Ushio Francesco Barbieri Jose Camacho-Collados 32 1 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 11 0 30 Sep 2024
Playful DoggyBot: Learning Agile and Precise Quadrupedal Locomotion Xin Duan Ziwen Zhuang Hang Zhao Soeren Schwertfeger 47 2 0 30 Sep 2024
Robust Ladder Climbing with a Quadrupedal Robot Dylan Vogel Robert Baines Joseph Church Julian Lotzer Karl Werner Marco Hutter 24 4 0 26 Sep 2024
Walking with Terrain Reconstruction: Learning to Traverse Risky Sparse Footholds Ruiqi Yu Qianshi Wang Yizhen Wang Zhicheng Wang Jun Wu Qiuguo Zhu 27 2 0 24 Sep 2024
FSL-LVLM: Friction-Aware Safety Locomotion using Large Vision Language Model in Wheeled Robots Bo Peng D. Baek Qijie Wang Joao Ramos 26 0 0 15 Sep 2024
Identifying Terrain Physical Parameters from Vision -- Towards Physical-Parameter-Aware Locomotion and Navigation Jiaqi Chen Jonas Frey Ruyi Zhou Takahiro Miki Georg Martius Marco Hutter 40 9 0 29 Aug 2024
Probabilistic Homotopy Optimization for Dynamic Motion Planning Shayan Pardis Matthew Chignoli Sangbae Kim 33 0 0 22 Aug 2024
CusADi: A GPU Parallelization Framework for Symbolic Expressions and Optimal Control Se Hwan Jeon Seungwoo Hong Ho Jae Lee Charles Khazoom Sangbae Kim 23 3 0 19 Aug 2024
Integrating Model-Based Footstep Planning with Model-Free Reinforcement Learning for Dynamic Legged Locomotion Ho Jae Lee Seungwoo Hong Sangbae Kim 26 2 0 05 Aug 2024
Automatic Environment Shaping is the Next Frontier in RL Younghyo Park G. Margolis Pulkit Agrawal OffRL 32 3 0 23 Jul 2024
NAS: N-step computation of All Solutions to the footstep planning problem Jiayi Wang Saeid Samadi Hefan Wang Pierre Fernbach O. Stasse S. Vijayakumar Steve Tonneau 42 0 0 17 Jul 2024
Humanoid Parkour Learning Ziwen Zhuang Shenzhe Yao Hang Zhao 43 36 0 15 Jun 2024
WoCoCo: Learning Whole-Body Humanoid Control with Sequential Contacts Chong Zhang Wenli Xiao Tairan He Guanya Shi 42 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 45 16 0 03 Jun 2024
Constrained Dynamics Simulation: More With Less A. Sathya AI4CE 29 0 0 31 May 2024
From Compliant to Rigid Contact Simulation: a Unified and Efficient Approach Justin Carpentier Louis Montaut Quentin Le Lidec 27 8 0 27 May 2024
Quadruped robot traversing 3D complex environments with limited perception Yi Cheng Hang Liu Guoping Pan Linqi Ye Houde Liu Bin Liang 32 7 0 28 Apr 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
TOP-Nav: Legged Navigation Integrating Terrain, Obstacle and Proprioception Estimation Junli Ren Yikai Liu Yingru Dai Junfeng Long Guijin Wang 32 3 0 23 Apr 2024
Hybrid Dynamics Modeling and Trajectory Planning for a Cable-Trailer System with a Quadruped Robot Wentao Zhang Shaohang Xu Gewei Zuo Lijun Zhu 30 0 0 18 Apr 2024
Agile and versatile bipedal robot tracking control through reinforcement learning Jiayi Li Linqi Ye Yi Cheng Houde Liu Bin Liang 28 1 0 12 Apr 2024
CEAR: Comprehensive Event Camera Dataset for Rapid Perception of Agile Quadruped Robots Shifan Zhu Zixun Xiong Donghyun Kim 26 2 0 06 Apr 2024
Learning Visual Quadrupedal Loco-Manipulation from Demonstrations Zhengmao He Kun Lei Yanjie Ze K. Sreenath Zhongyu Li Huazhe Xu 63 12 0 29 Mar 2024
LocoMan: Advancing Versatile Quadrupedal Dexterity with Lightweight Loco-Manipulators Changyi Lin Xingyu Liu Yuxiang Yang Yaru Niu Wenhao Yu Tingnan Zhang Jie Tan Byron Boots Ding Zhao 42 11 0 27 Mar 2024
Arm-Constrained Curriculum Learning for Loco-Manipulation of the Wheel-Legged Robot Zifan Wang Yufei Jia Lu Shi Haoyu Wang Haizhou Zhao Xueyang Li Jinni Zhou Jun Ma Guyue Zhou 32 5 0 25 Mar 2024
DexDribbler: Learning Dexterous Soccer Manipulation via Dynamic Supervision Yutong Hu Kehan Wen Fisher Yu 38 2 0 21 Mar 2024
Locomotion Generation for a Rat Robot based on Environmental Changes via Reinforcement Learning Xinhui Shan Yuhong Huang Zhenshan Bing Zitao Zhang Xiangtong Yao Kai-Qi Huang Alois C. Knoll 35 0 0 18 Mar 2024
Learning Speed Adaptation for Flight in Clutter Guangyu Zhao Tianyue Wu Yeke Chen Fei Gao 38 7 0 07 Mar 2024
Cafe-Mpc: A Cascaded-Fidelity Model Predictive Control Framework with Tuning-Free Whole-Body Control He Li Patrick M. Wensing 39 12 0 06 Mar 2024
Agile But Safe: Learning Collision-Free High-Speed Legged Locomotion Tairan He Chong Zhang Wenli Xiao Guanqi He Changliu Liu Guanya Shi 42 57 0 31 Jan 2024
A dynamical clipping approach with task feedback for Proximal Policy Optimization Ziqi Zhang Jingzehua Xu Zifeng Zhuang Jinxin Liu Donglin Wang Shuai Zhang 22 1 0 12 Dec 2023
Learning Agile Locomotion on Risky Terrains Chong Zhang N. Rudin David Hoeller Marco Hutter 14 19 0 17 Nov 2023
Grasp Multiple Objects with One Hand Yuyang Li Bo Liu Yiran Geng Puhao Li Yaodong Yang Yixin Zhu Tengyu Liu Siyuan Huang 35 24 0 24 Oct 2023
Advanced Skills by Learning Locomotion and Local Navigation End-to-End N. Rudin David Hoeller Marko Bjelonic Marco Hutter 72 70 0 26 Sep 2022