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Symmetry-Guided Memory Augmentation for Efficient Locomotion Learning
3 February 2025
Kaixi Bao
Chenhao Li
Yarden As
Andreas Krause
Marco Hutter
OffRL
CLL
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Papers citing
"Symmetry-Guided Memory Augmentation for Efficient Locomotion Learning"
45 / 45 papers shown
An Information-Theoretic Analysis of Out-of-Distribution Generalization in Meta-Learning with Applications to Meta-RL
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Min Liu
Deepak Pathak
Ananye Agarwal
171
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28 Sep 2025
Morphologically Symmetric Reinforcement Learning for Ambidextrous Bimanual Manipulation
Zechu Li
Yufeng Jin
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Claudio Semini
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Georgia Chalvatzaki
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Learning to Walk from Three Minutes of Real-World Data with Semi-structured Dynamics Models
Conference on Robot Learning (CoRL), 2024
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T. Westenbroek
David Fridovich-Keil
362
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0
11 Oct 2024
Geometric Active Exploration in Markov Decision Processes: the Benefit of Abstraction
Ric De Santi
Federico Arangath Joseph
Noah Liniger
Mirco Mutti
Andreas Krause
AI4CE
263
5
0
18 Jul 2024
Leveraging Symmetry in RL-based Legged Locomotion Control
Zhi Su
Xiaoyu Huang
Daniel Felipe Ordoñez Apraez
Yunfei Li
Zhongyu Li
...
Giulio Turrisi
Massimiliano Pontil
Claudio Semini
Yi Wu
Koushil Sreenath
454
31
0
26 Mar 2024
Learning Quadruped Locomotion Using Differentiable Simulation
Conference on Robot Learning (CoRL), 2024
Yunlong Song
Sangbae Kim
Davide Scaramuzza
457
36
0
21 Mar 2024
Symmetry Considerations for Learning Task Symmetric Robot Policies
Mayank Mittal
Nikita Rudin
Victor Klemm
Arthur Allshire
Marco Hutter
231
40
0
07 Mar 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
455
21
0
23 Feb 2024
FLD: Fourier Latent Dynamics for Structured Motion Representation and Learning
Chenhao Li
Elijah Stanger-Jones
Steve Heim
Sangbae Kim
293
27
0
21 Feb 2024
ANYmal Parkour: Learning Agile Navigation for Quadrupedal Robots
Science Robotics (Sci. Robot.), 2023
David Hoeller
Nikita Rudin
Dhionis V. Sako
Marco Hutter
376
324
0
26 Jun 2023
Orbit: A Unified Simulation Framework for Interactive Robot Learning Environments
IEEE Robotics and Automation Letters (RA-L), 2023
Mayank Mittal
C. Yu
Qinxi Yu
Jingzhou Liu
Nikita Rudin
...
Ajay Mandlekar
Buck Babich
Gavriel State
Marco Hutter
Animesh Garg
388
464
0
10 Jan 2023
Advanced Skills by Learning Locomotion and Local Navigation End-to-End
IEEE/RJS International Conference on Intelligent RObots and Systems (IROS), 2022
Nikita Rudin
David Hoeller
Marko Bjelonic
Marco Hutter
375
115
0
26 Sep 2022
Versatile Skill Control via Self-supervised Adversarial Imitation of Unlabeled Mixed Motions
IEEE International Conference on Robotics and Automation (ICRA), 2022
Chenhao Li
Sebastian Blaes
Pavel Kolev
Marin Vlastelica
Jonas Frey
Georg Martius
SSL
263
39
0
16 Sep 2022
Learning Agile Skills via Adversarial Imitation of Rough Partial Demonstrations
Conference on Robot Learning (CoRL), 2022
Chenhao Li
Marin Vlastelica
Sebastian Blaes
Jonas Frey
F. Grimminger
Georg Martius
266
83
0
23 Jun 2022
Curious Exploration via Structured World Models Yields Zero-Shot Object Manipulation
Neural Information Processing Systems (NeurIPS), 2022
Cansu Sancaktar
Sebastian Blaes
Georg Martius
LM&Ro
416
35
0
22 Jun 2022
Meta Reinforcement Learning with Finite Training Tasks -- a Density Estimation Approach
Neural Information Processing Systems (NeurIPS), 2022
Zohar Rimon
Aviv Tamar
Gilad Adler
OOD
OffRL
366
8
0
21 Jun 2022
Transformers are Meta-Reinforcement Learners
International Conference on Machine Learning (ICML), 2022
Luckeciano C. Melo
OffRL
264
64
0
14 Jun 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
625
966
0
20 Jan 2022
Hindsight Task Relabelling: Experience Replay for Sparse Reward Meta-RL
Charles Packer
Pieter Abbeel
Joseph E. Gonzalez
OffRL
271
21
0
02 Dec 2021
A Survey of Zero-shot Generalisation in Deep Reinforcement Learning
Robert Kirk
Amy Zhang
Edward Grefenstette
Tim Rocktaschel
OffRL
802
240
0
18 Nov 2021
RMA: Rapid Motor Adaptation for Legged Robots
Ashish Kumar
Zipeng Fu
Deepak Pathak
Jitendra Malik
959
795
0
08 Jul 2021
MHER: Model-based Hindsight Experience Replay
Rui Yang
Meng Fang
Lei Han
Yali Du
Feng Luo
Xiu Li
OffRL
278
22
0
01 Jul 2021
PlayVirtual: Augmenting Cycle-Consistent Virtual Trajectories for Reinforcement Learning
Neural Information Processing Systems (NeurIPS), 2021
Tao Yu
Cuiling Lan
Wenjun Zeng
Mingxiao Feng
Zhizheng Zhang
Zhibo Chen
OffRL
317
59
0
08 Jun 2021
Improving Generalization in Meta-RL with Imaginary Tasks from Latent Dynamics Mixture
Neural Information Processing Systems (NeurIPS), 2021
Suyoung Lee
Sae-Young Chung
OffRL
AI4CE
226
20
0
28 May 2021
Domain Generalization: A Survey
IEEE Transactions on Pattern Analysis and Machine Intelligence (TPAMI), 2021
Kaiyang Zhou
Ziwei Liu
Yu Qiao
Tao Xiang
Chen Change Loy
OOD
AI4CE
995
1,416
0
03 Mar 2021
Generalization in Reinforcement Learning by Soft Data Augmentation
IEEE International Conference on Robotics and Automation (ICRA), 2020
Nicklas Hansen
Xiaolong Wang
OffRL
399
220
0
26 Nov 2020
Learning Quadrupedal Locomotion over Challenging Terrain
Joonho Lee
Jemin Hwangbo
Lorenz Wellhausen
V. Koltun
Marco Hutter
536
1,518
0
21 Oct 2020
Improving Generalization in Reinforcement Learning with Mixture Regularization
Neural Information Processing Systems (NeurIPS), 2020
Kaixin Wang
Bingyi Kang
Jie Shao
Jiashi Feng
406
135
0
21 Oct 2020
Reinforcement Learning with Augmented Data
Neural Information Processing Systems (NeurIPS), 2020
Michael Laskin
Kimin Lee
Adam Stooke
Lerrel Pinto
Pieter Abbeel
A. Srinivas
OffRL
659
753
0
30 Apr 2020
VariBAD: A Very Good Method for Bayes-Adaptive Deep RL via Meta-Learning
International Conference on Learning Representations (ICLR), 2019
L. Zintgraf
K. Shiarlis
Maximilian Igl
Sebastian Schulze
Y. Gal
Katja Hofmann
Shimon Whiteson
OffRL
494
306
0
18 Oct 2019
Data Efficient Reinforcement Learning for Legged Robots
Conference on Robot Learning (CoRL), 2019
Yuxiang Yang
Ken Caluwaerts
Atil Iscen
Tingnan Zhang
Jie Tan
Vikas Sindhwani
317
164
0
08 Jul 2019
Learning Dexterous In-Hand Manipulation
OpenAI OpenAI
Marcin Andrychowicz
Bowen Baker
Maciek Chociej
Rafal Jozefowicz
...
Szymon Sidor
Joshua Tobin
Peter Welinder
Lilian Weng
Wojciech Zaremba
807
2,112
0
01 Aug 2018
Learning to Adapt in Dynamic, Real-World Environments Through Meta-Reinforcement Learning
Anusha Nagabandi
I. Clavera
Simin Liu
R. Fearing
Pieter Abbeel
Sergey Levine
Chelsea Finn
625
627
0
30 Mar 2018
Sim-to-Real Transfer of Robotic Control with Dynamics Randomization
Xue Bin Peng
Marcin Andrychowicz
Wojciech Zaremba
Pieter Abbeel
777
1,598
0
18 Oct 2017
Meta-SGD: Learning to Learn Quickly for Few-Shot Learning
Zhenguo Li
Fengwei Zhou
Fei Chen
Hang Li
468
1,225
0
31 Jul 2017
Proximal Policy Optimization Algorithms
John Schulman
Filip Wolski
Prafulla Dhariwal
Alec Radford
Oleg Klimov
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25,735
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Hindsight Experience Replay
Marcin Andrychowicz
Dwight Crow
Alex Ray
Jonas Schneider
Rachel Fong
Peter Welinder
Bob McGrew
Joshua Tobin
Pieter Abbeel
Wojciech Zaremba
OffRL
969
2,619
0
05 Jul 2017
Domain Randomization for Transferring Deep Neural Networks from Simulation to the Real World
Joshua Tobin
Rachel Fong
Alex Ray
Jonas Schneider
Wojciech Zaremba
Pieter Abbeel
887
3,508
0
20 Mar 2017
Model-Agnostic Meta-Learning for Fast Adaptation of Deep Networks
Chelsea Finn
Pieter Abbeel
Sergey Levine
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Jane X. Wang
Z. Kurth-Nelson
Dhruva Tirumala
Hubert Soyer
Joel Z Leibo
Rémi Munos
Charles Blundell
D. Kumaran
M. Botvinick
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476
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CAD2RL: Real Single-Image Flight without a Single Real Image
Fereshteh Sadeghi
Sergey Levine
SSL
926
877
0
13 Nov 2016
RL
2
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2
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Yan Duan
John Schulman
Xi Chen
Peter L. Bartlett
Ilya Sutskever
Pieter Abbeel
OffRL
371
1,124
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09 Nov 2016
Memory-based control with recurrent neural networks
N. Heess
Jonathan J. Hunt
Timothy Lillicrap
David Silver
273
325
0
14 Dec 2015
High-Dimensional Continuous Control Using Generalized Advantage Estimation
International Conference on Learning Representations (ICLR), 2015
John Schulman
Philipp Moritz
Sergey Levine
Sai Li
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08 Jun 2015
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