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2409.06366
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One Policy to Run Them All: an End-to-end Learning Approach to Multi-Embodiment Locomotion
Conference on Robot Learning (CoRL), 2024
10 September 2024
Nico Bohlinger
Grzegorz Czechmanowski
Maciej Krupka
Piotr Kicki
Krzysztof Walas
Jan Peters
Davide Tateo
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Papers citing
"One Policy to Run Them All: an End-to-end Learning Approach to Multi-Embodiment Locomotion"
50 / 63 papers shown
H-Zero: Cross-Humanoid Locomotion Pretraining Enables Few-shot Novel Embodiment Transfer
Yunfeng Lin
Minghuan Liu
Yufei Xue
Ming Zhou
Yong Yu
Jiangmiao Pang
Weinan Zhang
123
1
0
30 Nov 2025
Scaling Cross-Embodiment World Models for Dexterous Manipulation
Zihao He
Bo Ai
Tongzhou Mu
Yulin Liu
Weikang Wan
Jiawei Fu
Yilun Du
Henrik I. Christensen
H. Su
264
5
0
03 Nov 2025
Towards a Multi-Embodied Grasping Agent
Roman Freiberg
Alexander Qualmann
Ngo Anh Vien
Gerhard Neumann
218
0
0
31 Oct 2025
Toward Humanoid Brain-Body Co-design: Joint Optimization of Control and Morphology for Fall Recovery
Bo Yue
Sheng Xu
Kui Jia
Guiliang Liu
AI4CE
197
1
0
25 Oct 2025
Bridge the Gap: Enhancing Quadruped Locomotion with Vertical Ground Perturbations
Maximilian Stasica
Arne Bick
Nico Bohlinger
Omid Mohseni
Max Johannes Alois Fritzsche
Clemens Hübler
Jan Peters
Andre Seyfarth
184
2
0
15 Oct 2025
Sampling Strategies for Robust Universal Quadrupedal Locomotion Policies
David Rytz
Kim Tien Ly
Ioannis Havoutis
255
0
0
08 Oct 2025
LocoFormer: Generalist Locomotion via Long-context Adaptation
Min Liu
Deepak Pathak
Ananye Agarwal
201
8
0
28 Sep 2025
Multi-Embodiment Locomotion at Scale with extreme Embodiment Randomization
Nico Bohlinger
Jan Peters
123
1
0
02 Sep 2025
Efficient Morphology-Aware Policy Transfer to New Embodiments
Michael Przystupa
Hongyao Tang
Martin Jägersand
Santiago Miret
Mariano Phielipp
Matthew E. Taylor
Glen Berseth
182
1
0
05 Aug 2025
Learning Physical Interaction Skills from Human Demonstrations
Tianyu Li
Hengbo Ma
Sehoon Ha
Kwonjoon Lee
307
2
0
28 Jul 2025
X-Nav: Learning End-to-End Cross-Embodiment Navigation for Mobile Robots
IEEE Robotics and Automation Letters (IEEE RA-L), 2025
Haitong Wang
Aaron Hao Tan
Angus Fung
G. Nejat
369
8
0
19 Jul 2025
Multi-Loco: Unifying Multi-Embodiment Legged Locomotion via Reinforcement Learning Augmented Diffusion
Shunpeng Yang
Zhen Fu
Zhefeng Cao
Guo Junde
Patrick M. Wensing
Wei Zhang
Hua-zeng Chen
314
5
0
13 Jun 2025
Modular Recurrence in Contextual MDPs for Universal Morphology Control
Laurens Engwegen
Daan Brinks
Wendelin Bohmer
346
1
0
10 Jun 2025
One Policy but Many Worlds: A Scalable Unified Policy for Versatile Humanoid Locomotion
Yahao Fan
Tianxiang Gui
Kaiyang Ji
Shutong Ding
C. Zhang
Jiayuan Gu
Jingyi Yu
Jingya Wang
Ye-ling Shi
VGen
447
4
0
24 May 2025
McARL:Morphology-Control-Aware Reinforcement Learning for Generalizable Quadrupedal Locomotion
Prakhar Mishra
Amir Hossain Raj
Xuesu Xiao
Dinesh Manocha
316
1
0
23 May 2025
Reference Free Platform Adaptive Locomotion for Quadrupedal Robots using a Dynamics Conditioned Policy
European Conference on Mobile Robots (ECMR), 2025
David Rytz
Suyoung Choi
Wanming Yu
W. Merkt
Jemin Hwangbo
Ioannis Havoutis
447
1
0
21 May 2025
Meta-World+: An Improved, Standardized, RL Benchmark
Reginald McLean
Evangelos Chatzaroulas
Luc McCutcheon
Frank Röder
Tianhe Yu
...
Ryan Julian
Jordan Terry
Isaac Woungang
Nariman Farsad
Pablo Samuel Castro
OffRL
322
20
0
16 May 2025
GRoQ-LoCO: Generalist and Robot-agnostic Quadruped Locomotion Control using Offline Datasets
Narayanan PP
Sarvesh Prasanth Venkatesan
Srinivas Kantha Reddy
Shishir Kolathaya
OffRL
428
2
0
16 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 Sun
Xinhu Zheng
Gang Wang
AI4CE
650
38
0
08 May 2025
Transferable Latent-to-Latent Locomotion Policy for Efficient and Versatile Motion Control of Diverse Legged Robots
Ziang Zheng
Tianze Zhu
Bin Shuai
Shengtao Qin
Junjie Li
Tao Zhang
Shengbo Eben Li
307
2
0
22 Mar 2025
Deep Learning Agents Trained For Avoidance Behave Like Hawks And Doves
Aryaman Reddi
238
0
0
14 Mar 2025
Unified Locomotion Transformer with Simultaneous Sim-to-Real Transfer for Quadrupeds
Dikai Liu
Tianwei Zhang
Jianxiong Yin
Simon See
OffRL
415
2
0
12 Mar 2025
Gait in Eight: Efficient On-Robot Learning for Omnidirectional Quadruped Locomotion
Nico Bohlinger
Jonathan Kinzel
Daniel Palenicek
Lukasz Antczak
Jan Peters
343
7
0
11 Mar 2025
Learning Smooth Humanoid Locomotion through Lipschitz-Constrained Policies
Zixuan Chen
Xialin He
Yen-Jen Wang
Qiayuan Liao
Yanjie Ze
...
S. Sastry
Jiajun Wu
Koushil Sreenath
Saurabh Gupta
Xue Bin Peng
408
49
0
15 Oct 2024
RoboMorph: Evolving Robot Morphology using Large Language Models
Kevin Qiu
Krzysztof Ciebiera
Krzysztof Ciebiera
Marek Cygan
Marek Cygan
Łukasz Kuciński
LM&Ro
402
10
0
11 Jul 2024
Long-horizon Locomotion and Manipulation on a Quadrupedal Robot with Large Language Models
Yutao Ouyang
Jinhan Li
Yunfei Li
Zhongyu Li
Chao Yu
Koushil Sreenath
Yi Wu
480
28
0
08 Apr 2024
GeRM: A Generalist Robotic Model with Mixture-of-experts for Quadruped Robot
Wenxuan Song
Han Zhao
Pengxiang Ding
Can Cui
Shangke Lyu
Yaning Fan
Donglin Wang
OffRL
403
36
0
20 Mar 2024
Agile But Safe: Learning Collision-Free High-Speed Legged Locomotion
Tairan He
Chong Zhang
Wenli Xiao
Guanqi He
Changliu Liu
Guanya Shi
553
134
0
31 Jan 2024
Sharing Knowledge in Multi-Task Deep Reinforcement Learning
International Conference on Learning Representations (ICLR), 2020
Carlo DÉramo
Davide Tateo
Andrea Bonarini
Marcello Restelli
Jan Peters
418
147
0
17 Jan 2024
Multi-Task Reinforcement Learning with Mixture of Orthogonal Experts
Ahmed Hendawy
Jan Peters
Carlo DÉramo
MoE
333
45
0
19 Nov 2023
Grow Your Limits: Continuous Improvement with Real-World RL for Robotic Locomotion
IEEE International Conference on Robotics and Automation (ICRA), 2023
Laura M. Smith
Yunhao Cao
Sergey Levine
OffRL
252
35
0
26 Oct 2023
RL-X: A Deep Reinforcement Learning Library (not only) for RoboCup
Nico Bohlinger
Klaus Dorer
232
6
0
20 Oct 2023
ManyQuadrupeds: Learning a Single Locomotion Policy for Diverse Quadruped Robots
IEEE International Conference on Robotics and Automation (ICRA), 2023
M. Shafiee
Guillaume Bellegarda
A. Ijspeert
468
44
0
16 Oct 2023
Evaluation of Constrained Reinforcement Learning Algorithms for Legged Locomotion
Joonho Lee
Lukas Schroth
Victor Klemm
Marko Bjelonic
Alexander Reske
Marco Hutter
254
25
0
27 Sep 2023
Extreme Parkour with Legged Robots
IEEE International Conference on Robotics and Automation (ICRA), 2023
Xuxin Cheng
Kexin Shi
Ananye Agarwal
Deepak Pathak
478
314
0
25 Sep 2023
Robot Parkour Learning
Conference on Robot Learning (CoRL), 2023
Ziwen Zhuang
Zipeng Fu
Jianren Wang
Christopher G Atkeson
Soeren Schwertfeger
Chelsea Finn
Hang Zhao
568
265
0
11 Sep 2023
Not Only Rewards But Also Constraints: Applications on Legged Robot Locomotion
IEEE Transactions on robotics (TRO), 2023
Yunho Kim
H. Oh
J. Lee
Jinhyeok Choi
Gwanghyeon Ji
Moonkyu Jung
D. Youm
Jemin Hwangbo
373
92
0
24 Aug 2023
Barkour: Benchmarking Animal-level Agility with Quadruped Robots
Ken Caluwaerts
Atil Iscen
J. Kew
Wenhao Yu
Tingnan Zhang
...
J. Seto
Carolina Parada
Vikas Sindhwani
Vincent Vanhoucke
Jie Tan
284
82
0
24 May 2023
Real-World Humanoid Locomotion with Reinforcement Learning
Science Robotics (Sci. Robot.), 2023
Ilija Radosavovic
Tete Xiao
Bike Zhang
Trevor Darrell
Jitendra Malik
Koushil Sreenath
440
336
0
06 Mar 2023
Walk These Ways: Tuning Robot Control for Generalization with Multiplicity of Behavior
Conference on Robot Learning (CoRL), 2022
G. Margolis
Pulkit Agrawal
346
275
0
06 Dec 2022
Learning and Deploying Robust Locomotion Policies with Minimal Dynamics Randomization
Conference on Learning for Dynamics & Control (L4DC), 2022
Luigi Campanaro
Siddhant Gangapurwala
W. Merkt
Ioannis Havoutis
240
24
0
26 Sep 2022
GenLoco: Generalized Locomotion Controllers for Quadrupedal Robots
Conference on Robot Learning (CoRL), 2022
Gilbert Feng
Hongbo Zhang
Zhongyu Li
Xue Bin Peng
Bhuvan Basireddy
...
Zhitao Song
Lizhi Yang
Yunhui Liu
Koushil Sreenath
Sergey Levine
351
93
0
12 Sep 2022
A Walk in the Park: Learning to Walk in 20 Minutes With Model-Free Reinforcement Learning
Laura M. Smith
Ilya Kostrikov
Sergey Levine
OffRL
198
134
0
16 Aug 2022
AnyMorph: Learning Transferable Polices By Inferring Agent Morphology
International Conference on Machine Learning (ICML), 2022
Brandon Trabucco
Mariano Phielipp
Glen Berseth
214
37
0
17 Jun 2022
Adapting Rapid Motor Adaptation for Bipedal Robots
IEEE/RJS International Conference on Intelligent RObots and Systems (IROS), 2022
Ashish Kumar
Zhongyu Li
Jun Zeng
Deepak Pathak
Koushil Sreenath
Jitendra Malik
392
112
0
30 May 2022
Rapid Locomotion via Reinforcement Learning
G. Margolis
Ge Yang
Kartik Paigwar
Tao Chen
Pulkit Agrawal
370
349
0
05 May 2022
MetaMorph: Learning Universal Controllers with Transformers
International Conference on Learning Representations (ICLR), 2022
Agrim Gupta
Linxi Fan
Surya Ganguli
Li Fei-Fei
LM&Ro
262
129
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22 Mar 2022
Concurrent Training of a Control Policy and a State Estimator for Dynamic and Robust Legged Locomotion
IEEE Robotics and Automation Letters (RA-L), 2022
Gwanghyeon Ji
Juhyeok Mun
Hyeongjun Kim
Jemin Hwangbo
398
232
0
11 Feb 2022
Learning robust perceptive locomotion for quadrupedal robots in the wild
Science Robotics (Sci. Robot.), 2022
Takahiro Miki
Joonho Lee
Jemin Hwangbo
Lorenz Wellhausen
V. Koltun
Marco Hutter
698
999
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20 Jan 2022
Learning to Walk in Minutes Using Massively Parallel Deep Reinforcement Learning
Conference on Robot Learning (CoRL), 2021
Nikita Rudin
David Hoeller
Philipp Reist
Marco Hutter
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24 Sep 2021
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