Agile But Safe: Learning Collision-Free High-Speed Legged Locomotion

31 January 2024

Changliu Liu

Papers citing "Agile But Safe: Learning Collision-Free High-Speed Legged Locomotion"

50 / 52 papers shown

Title
Terrain-aware Low Altitude Path Planning Yixuan Jia Andrea Tagliabue Navid Dadkhah Tehrani Jonathan P. How 21 0 0 11 May 2025
FACET: Force-Adaptive Control via Impedance Reference Tracking for Legged Robots Botian Xu Haoyang Weng Qingzhou Lu Yang Gao Huazhe Xu 24 0 0 11 May 2025
Quadrupedal Robot Skateboard Mounting via Reverse Curriculum Learning Danil Belov Artem Erkhov Elizaveta Pestova I. Osokin Dzmitry Tsetserukou Pavel Osinenko 24 0 0 10 May 2025
Multi-agent Embodied AI: Advances and Future Directions Zhaohan Feng Ruiqi Xue Lei Yuan Yang Yu Ning Ding M. Liu Bingzhao Gao Jian-jun Sun Gang Wang AI4CE 52 0 0 08 May 2025
Zero-shot Sim2Real Transfer for Magnet-Based Tactile Sensor on Insertion Tasks Beining Han Abhishek Joshi Jia Deng 27 0 0 05 May 2025
Uncertainty-aware Latent Safety Filters for Avoiding Out-of-Distribution Failures Junwon Seo Kensuke Nakamura Andrea V. Bajcsy 54 0 0 01 May 2025
Learning Neural Control Barrier Functions from Offline Data with Conservatism Ihab Tabbara Hussein Sibai OffRL 54 0 0 01 May 2025
PTRL: Prior Transfer Deep Reinforcement Learning for Legged Robots Locomotion Haodong Huang Shilong Sun Zida Zhao Hailin Huang Changqing Shen Wenfu Xu 26 0 0 08 Apr 2025
AcL: Action Learner for Fault-Tolerant Quadruped Locomotion Control Tianyu Xu Yaoyu Cheng Pinxi Shen Lin Zhao 49 0 0 27 Mar 2025
MoE-Loco: Mixture of Experts for Multitask Locomotion Runhan Huang Shaoting Zhu Yilun Du Hang Zhao MoE 41 0 0 11 Mar 2025
Incentivizing Multi-Tenant Split Federated Learning for Foundation Models at the Network Edge Songyuan Li Jia Hu Geyong Min Haojun Huang FedML 80 0 0 06 Mar 2025
Discrete-Time Hybrid Automata Learning: Legged Locomotion Meets Skateboarding Hang Liu Sangli Teng Ben Liu Wei Zhang Maani Ghaffari 72 2 0 03 Mar 2025
NavG: Risk-Aware Navigation in Crowded Environments Based on Reinforcement Learning with Guidance Points Qianyi Zhang Wentao Luo Boyi Liu Ziyang Zhang Yaoyuan Wang J. H. Liu 36 0 0 03 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
A Real-to-Sim-to-Real Approach to Robotic Manipulation with VLM-Generated Iterative Keypoint Rewards Shivansh Patel Xinchen Yin Wenlong Huang Shubham Garg H. Nayyeri Li Fei-Fei Svetlana Lazebnik Y. Li 89 0 0 12 Feb 2025
Discovery of skill switching criteria for learning agile quadruped locomotion Wanming Yu Fernando Acero Vassil Atanassov Chuanyu Yang Ioannis Havoutis Dimitrios Kanoulas Zhibin Li 50 0 0 10 Feb 2025
SafeDrive: Knowledge- and Data-Driven Risk-Sensitive Decision-Making for Autonomous Vehicles with Large Language Models Zhiyuan Zhou Heye Huang Boqi Li Shiyue Zhao Yao Mu Jianqiang Wang 82 1 0 17 Dec 2024
Reinforcement Learning from Wild Animal Videos Elliot Chane-Sane Constant Roux O. Stasse Nicolas Mansard 95 0 0 05 Dec 2024
QuadWBG: Generalizable Quadrupedal Whole-Body Grasping Jilong Wang Javokhirbek Rajabov Chaoyi Xu Yiming Zheng He Wang 39 1 0 11 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 35 23 0 28 Oct 2024
Multilingual Topic Classification in X: Dataset and Analysis Dimosthenis Antypas Asahi Ushio Francesco Barbieri Jose Camacho-Collados 22 1 0 04 Oct 2024
AnyCar to Anywhere: Learning Universal Dynamics Model for Agile and Adaptive Mobility Wenli Xiao Haoru Xue Tony Tao Dvij Kalaria John M. Dolan Guanya Shi 19 5 0 24 Sep 2024
NavRL: Learning Safe Flight in Dynamic Environments Zhefan Xu Xinming Han Haoyu Shen Hanyu Jin Kenji Shimada 30 4 0 24 Sep 2024
Full-Order Sampling-Based MPC for Torque-Level Locomotion Control via Diffusion-Style Annealing Haoru Xue Chaoyi Pan Zeji Yi Guannan Qu Guanya Shi 36 14 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
SoloParkour: Constrained Reinforcement Learning for Visual Locomotion from Privileged Experience Elliot Chane-Sane Joseph Amigo Thomas Flayols Ludovic Righetti Nicolas Mansard 47 5 0 20 Sep 2024
Agile Continuous Jumping in Discontinuous Terrains Yuxiang Yang Guanya Shi Changyi Lin Xiangyun Meng Rosario Scalise ... Wenhao Yu Tingnan Zhang Ding Zhao Jie Tan Byron Boots 11 2 0 17 Sep 2024
Safe Control of Quadruped in Varying Dynamics via Safety Index Adaptation Kai S. Yun Rui Chen Chase Dunaway John M. Dolan Changliu Liu 15 0 0 15 Sep 2024
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
Whole-Body Control Through Narrow Gaps From Pixels To Action Tianyue Wu Yeke Chen Tianyang Chen Guangyu Zhao Fei Gao 35 4 0 02 Sep 2024
SF-TIM: A Simple Framework for Enhancing Quadrupedal Robot Jumping Agility by Combining Terrain Imagination and Measurement Ze Wang Yang Li Long Xu Limalka Sadith Zunwang Ma Liel David Daniel Harari Fei Gao Muhammad Haris Khan Kaiwei Wang 21 0 0 01 Aug 2024
OASIS: Conditional Distribution Shaping for Offline Safe Reinforcement Learning Yi-Fan Yao Zhepeng Cen Wenhao Ding Hao-ming Lin Shiqi Liu Tingnan Zhang Wenhao Yu Ding Zhao OffRL OnRL 47 0 0 19 Jul 2024
Commonsense Reasoning for Legged Robot Adaptation with Vision-Language Models Annie S. Chen Alec M. Lessing Andy Tang Govind Chada Laura Smith Sergey Levine Chelsea Finn LM&Ro LRM 26 8 0 02 Jul 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
SLR: Learning Quadruped Locomotion without Privileged Information Shiyi Chen Zeyu Wan Shiyang Yan Chun Zhang Weiyi Zhang Qiang Li Debing Zhang F. Farrukh 29 4 0 07 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
Quadruped robot traversing 3D complex environments with limited perception Yi Cheng Hang Liu Guoping Pan Linqi Ye Houde Liu Bin Liang 27 7 0 28 Apr 2024
TOP-Nav: Legged Navigation Integrating Terrain, Obstacle and Proprioception Estimation Junli Ren Yikai Liu Yingru Dai Junfeng Long Guijin Wang 27 3 0 23 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 27 8 0 27 Mar 2024
Learning Human-to-Humanoid Real-Time Whole-Body Teleoperation Tairan He Zhengyi Luo Wenli Xiao Chong Zhang Kris M. Kitani Changliu Liu Guanya Shi 23 78 0 07 Mar 2024
Safe Deep Policy Adaptation Wenli Xiao Tairan He John M. Dolan Guanya Shi 11 9 0 08 Oct 2023
IndoorSim-to-OutdoorReal: Learning to Navigate Outdoors without any Outdoor Experience Joanne Truong April Zitkovich Sonia Chernova Dhruv Batra Tingnan Zhang Jie Tan Wenhao Yu LM&Ro 13 13 0 01 May 2023
Learning and Deploying Robust Locomotion Policies with Minimal Dynamics Randomization Luigi Campanaro Siddhant Gangapurwala W. Merkt Ioannis Havoutis 47 12 0 26 Sep 2022
Advanced Skills by Learning Locomotion and Local Navigation End-to-End N. Rudin David Hoeller Marko Bjelonic Marco Hutter 69 69 0 26 Sep 2022
Learning to Walk by Steering: Perceptive Quadrupedal Locomotion in Dynamic Environments Mingyo Seo Ryan Gupta Yifeng Zhu Alexy Skoutnev Luis Sentis Yuke Zhu 19 12 0 19 Sep 2022
TAMOLS: Terrain-Aware Motion Optimization for Legged Systems Fabian Jenelten R. Grandia Farbod Farshidian Marco Hutter 35 55 0 28 Jun 2022
Learning Perceptual Locomotion on Uneven Terrains using Sparse Visual Observations Fernando Acero Kai Yuan Zhibin Li 22 5 0 28 Sep 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
Accessibility-Based Clustering for Efficient Learning of Locomotion Skills Chong Zhang Wanming Yu Zhibin Li 14 9 0 23 Sep 2021