Reference Free Platform Adaptive Locomotion for Quadrupedal Robots using a Dynamics Conditioned Policy

Reference Free Platform Adaptive Locomotion for Quadrupedal Robots using a Dynamics Conditioned Policy

21 May 2025

Ioannis Havoutis

Papers citing "Reference Free Platform Adaptive Locomotion for Quadrupedal Robots using a Dynamics Conditioned Policy"

17 / 17 papers shown

Title
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 57 19 0 10 Sep 2024
ManyQuadrupeds: Learning a Single Locomotion Policy for Diverse Quadruped Robots M. Shafiee Guillaume Bellegarda A. Ijspeert 38 27 0 16 Oct 2023
Robot Parkour Learning Ziwen Zhuang Zipeng Fu Jianren Wang Christopher G Atkeson Soeren Schwertfeger Chelsea Finn Hang Zhao 68 155 0 11 Sep 2023
Learning Low-Frequency Motion Control for Robust and Dynamic Robot Locomotion Siddhant Gangapurwala Luigi Campanaro Ioannis Havoutis 40 13 0 29 Sep 2022
GenLoco: Generalized Locomotion Controllers for Quadrupedal Robots Gilbert Feng Hongbo Zhang Zhongyu Li Xue Bin Peng Bhuvan Basireddy ... Zhitao Song Lizhi Yang Yunhui Liu Koushil Sreenath Sergey Levine 102 62 0 12 Sep 2022
Concurrent Training of a Control Policy and a State Estimator for Dynamic and Robust Legged Locomotion Gwanghyeon Ji Juhyeok Mun Hyeongjun Kim Jemin Hwangbo 42 141 0 11 Feb 2022
RLOC: Terrain-Aware Legged Locomotion using Reinforcement Learning and Optimal Control Siddhant Gangapurwala Mathieu Geisert Romeo Orsolino Maurice F. Fallon Ioannis Havoutis 76 115 0 05 Dec 2020
One Policy to Control Them All: Shared Modular Policies for Agent-Agnostic Control Wenlong Huang Igor Mordatch Deepak Pathak 62 173 0 09 Jul 2020
Learning Memory-Based Control for Human-Scale Bipedal Locomotion J. Siekmann S. Valluri Jeremy Dao Lorenzo Bermillo Helei Duan Alan Fern J. Hurst AI4CE 25 70 0 03 Jun 2020
Learning Agile Robotic Locomotion Skills by Imitating Animals Xue Bin Peng Erwin Coumans Tingnan Zhang T. Lee Jie Tan Sergey Levine 82 502 0 02 Apr 2020
Guided Constrained Policy Optimization for Dynamic Quadrupedal Robot Locomotion Siddhant Gangapurwala Alexander L. Mitchell Ioannis Havoutis 39 55 0 22 Feb 2020
Crocoddyl: An Efficient and Versatile Framework for Multi-Contact Optimal Control Carlos Mastalli Rohan Budhiraja W. Merkt Guilhem Saurel Bilal Hammoud M. Naveau Justin Carpentier Ludovic Righetti S. Vijayakumar Nicolas Mansard 31 292 0 11 Sep 2019
Learning agile and dynamic motor skills for legged robots Jemin Hwangbo Joonho Lee Alexey Dosovitskiy Dario Bellicoso Vassilios Tsounis V. Koltun Marco Hutter 53 1,294 0 24 Jan 2019
DeepIM: Deep Iterative Matching for 6D Pose Estimation Yi Li Gu Wang Xiangyang Ji Yu Xiang Dieter Fox 3DH 3DPC 86 702 0 31 Mar 2018
World Models David R Ha Jürgen Schmidhuber SyDa 88 1,050 0 27 Mar 2018
Proximal Policy Optimization Algorithms John Schulman Filip Wolski Prafulla Dhariwal Alec Radford Oleg Klimov OffRL 183 18,685 0 20 Jul 2017
On Learning to Think: Algorithmic Information Theory for Novel Combinations of Reinforcement Learning Controllers and Recurrent Neural World Models Jürgen Schmidhuber 42 102 0 30 Nov 2015