Leveraging Symmetry in RL-based Legged Locomotion Control

Leveraging Symmetry in RL-based Legged Locomotion Control

26 March 2024

Daniel Felipe Ordoñez Apraez

Giulio Turrisi

Massimiliano Pontil

Claudio Semini

Papers citing "Leveraging Symmetry in RL-based Legged Locomotion Control"

16 / 16 papers shown

Title
Morphologically Symmetric Reinforcement Learning for Ambidextrous Bimanual Manipulation Zechu Li Yufeng Jin Daniel Felipe Ordoñez Apraez Claudio Semini Puze Liu Georgia Chalvatzaki 47 0 0 08 May 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 62 0 0 06 Mar 2025
Humanoid Whole-Body Locomotion on Narrow Terrain via Dynamic Balance and Reinforcement Learning Weiji Xie Chenjia Bai Jiyuan Shi Junkai Yang Yunfei Ge Weinan Zhang X. Li 36 1 0 24 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
Toward Task Generalization via Memory Augmentation in Meta-Reinforcement Learning Kaixi Bao Chenhao Li Yarden As Andreas Krause Marco Hutter OffRL CLL 92 1 0 03 Feb 2025
Symmetries-enhanced Multi-Agent Reinforcement Learning N. Bousias Stefanos Pertigkiozoglou Kostas Daniilidis George Pappas AI4CE 69 0 0 02 Jan 2025
Reference-Steering via Data-Driven Predictive Control for Hyper-Accurate Robotic Flying-Hopping Locomotion Yicheng Zeng Yuhao Huang Xiaobin Xiong 64 0 0 27 Nov 2024
Learning Humanoid Locomotion with Perceptive Internal Model Junfeng Long Junli Ren Moji Shi Z. Wang Tao Huang Ping Luo Jiangmiao Pang 64 18 0 21 Nov 2024
Robust Robot Walker: Learning Agile Locomotion over Tiny Traps Shaoting Zhu Runhan Huang Linzhan Mou Hang Zhao 23 2 0 11 Sep 2024
DiffuseLoco: Real-Time Legged Locomotion Control with Diffusion from Offline Datasets Xiaoyu Huang Yufeng Chi Ruofeng Wang Zhongyu Li Xue Bin Peng Sophia Shao Borivoje Nikolic K. Sreenath OffRL 47 23 0 30 Apr 2024
Morphological Symmetries in Robotics Daniel Felipe Ordoñez Apraez Giulio Turrisi Vladimir Kostic Mario Martin Antonio Agudo Francesc Moreno-Noguer Massimiliano Pontil Claudio Semini Carlos Mastalli AI4CE 29 5 0 23 Feb 2024
On discrete symmetries of robotics systems: A group-theoretic and data-driven analysis Daniel Felipe Ordoñez Apraez Mario Martin Antonio Agudo Francesc Moreno-Noguer AI4CE 24 10 0 21 Feb 2023
CPG-RL: Learning Central Pattern Generators for Quadruped Locomotion Guillaume Bellegarda A. Ijspeert 28 74 0 01 Nov 2022
Continuous MDP Homomorphisms and Homomorphic Policy Gradient S. Rezaei-Shoshtari Rosie Zhao Prakash Panangaden D. Meger Doina Precup 26 18 0 15 Sep 2022
Equivariant Transporter Network Hao-zhe Huang Dian Wang Robin G. Walters Robert W. Platt 49 53 0 18 Feb 2022