Learning agile and dynamic motor skills for legged robots

24 January 2019

Alexey Dosovitskiy

Marco Hutter

Papers citing "Learning agile and dynamic motor skills for legged robots"

50 / 55 papers shown

Title
Learning Unified Force and Position Control for Legged Loco-Manipulation Peiyuan Zhi Peiyang Li Jianqin Yin Baoxiong Jia Siyuan Huang 84 1 0 27 May 2025
H2-COMPACT: Human-Humanoid Co-Manipulation via Adaptive Contact Trajectory Policies Geeta Chandra Raju Bethala Hao Huang Niraj Pudasaini Abdullah Mohamed Ali Shuaihang Yuan Congcong Wen Anthony Tzes Yi Fang 116 0 0 23 May 2025
Motion Priors Reimagined: Adapting Flat-Terrain Skills for Complex Quadruped Mobility Zewei Zhang Chenhao Li Takahiro Miki Marco Hutter 67 0 0 21 May 2025
Reference Free Platform Adaptive Locomotion for Quadrupedal Robots using a Dynamics Conditioned Policy David Rytz Suyoung Choi Wanming Yu W. Merkt Jemin Hwangbo Ioannis Havoutis 79 0 0 21 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 62 0 0 16 May 2025
Learned Perceptive Forward Dynamics Model for Safe and Platform-aware Robotic Navigation Pascal Roth Jonas Frey Cesar Cadena Marco Hutter 96 0 0 27 Apr 2025
High-Performance Reinforcement Learning on Spot: Optimizing Simulation Parameters with Distributional Measures A. J Miller Fangzhou Yu Michael Brauckmann Farbod Farshidian OffRL BDL 98 1 0 24 Apr 2025
Learning Bipedal Locomotion on Gear-Driven Humanoid Robot Using Foot-Mounted IMUs Sotaro Katayama Yuta Koda Norio Nagatsuka Masaya Kinoshita 124 0 0 01 Apr 2025
Reward Training Wheels: Adaptive Auxiliary Rewards for Robotics Reinforcement Learning Linji Wang Tong Xu Yuanjie Lu Xuesu Xiao 108 0 0 19 Mar 2025
ES-Parkour: Advanced Robot Parkour with Bio-inspired Event Camera and Spiking Neural Network Qiang Zhang Jiahang Cao Jingkai Sun Yecheng Shao Gang Han Wen Zhao Yijie Guo Renjing Xu 120 0 0 13 Mar 2025
Masked Sensory-Temporal Attention for Sensor Generalization in Quadruped Locomotion Dikai Liu Tianwei Zhang Jianxiong Yin Simon See 240 1 0 13 Mar 2025
MoE-Loco: Mixture of Experts for Multitask Locomotion Runhan Huang Shaoting Zhu Yilun Du Hang Zhao MoE 108 1 0 11 Mar 2025
Hyperspherical Normalization for Scalable Deep Reinforcement Learning Hojoon Lee Youngdo Lee Takuma Seno Donghu Kim Peter Stone Jaegul Choo 175 4 0 21 Feb 2025
Robotic Table Tennis: A Case Study into a High Speed Learning System David B. DÁmbrosio Jonathan Abelian Saminda Abeyruwan Michael Ahn Alex Bewley ... Vikas Sindhwani Avi Singh Vincent Vanhoucke Grace Vesom Peng Xu 139 15 0 20 Feb 2025
Learning Getting-Up Policies for Real-World Humanoid Robots Xialin He Runpei Dong Zixuan Chen Saurabh Gupta 131 10 0 17 Feb 2025
Design and Control of a Bipedal Robotic Character Ruben Grandia Espen Knoop Michael A. Hopkins Georg Wiedebach Jared Bishop Steven Pickles David Müller Moritz Bächer 125 14 0 10 Jan 2025
Visual Semantic Navigation with Real Robots Carlos Gutiérrez-Álvarez Pablo Ríos-Navarro Rafael Flor-Rodríguez Francisco Javier Acevedo-Rodríguez Roberto J. López-Sastre 93 2 0 10 Jan 2025
QuadWBG: Generalizable Quadrupedal Whole-Body Grasping Jilong Wang Javokhirbek Rajabov Chaoyi Xu Yiming Zheng He Wang 90 2 0 11 Nov 2024
Environment as Policy: Learning to Race in Unseen Tracks Hongze Wang Jiaxu Xing Nico Messikommer Davide Scaramuzza 90 1 0 29 Oct 2024
An Intelligent Agentic System for Complex Image Restoration Problems Kaiwen Zhu Jinjin Gu Zhiyuan You Yu Qiao Chao Dong 120 10 0 23 Oct 2024
SERN: Simulation-Enhanced Realistic Navigation for Multi-Agent Robotic Systems in Contested Environments Jumman Hossain Emon Dey Snehalraj Chugh Masud Ahmed MS Anwar ... Adrienne Raglin Carl E. Busart T. Gregory Anuradha Ravi Nirmalya Roy 64 0 0 22 Oct 2024
Cycloidal Quasi-Direct Drive Actuator Designs with Learning-based Torque Estimation for Legged Robotics Alvin Zhu Yusuke Tanaka Fadi Rafeedi Dennis W. Hong 148 1 0 22 Oct 2024
Extended Friction Models for the Physics Simulation of Servo Actuators Marc Duclusaud G. Passault Vincent Padois Olivier Ly 81 0 0 11 Oct 2024
Learning Object Properties Using Robot Proprioception via Differentiable Robot-Object Interaction Julius Berner Chao Liu Pingchuan Ma John Eastman Daniela Rus Dylan Randle Yuri Ivanov Wojciech Matusik 82 0 0 04 Oct 2024
Playful DoggyBot: Learning Agile and Precise Quadrupedal Locomotion Xin Duan Ziwen Zhuang Hang Zhao Soeren Schwertfeger 111 2 0 30 Sep 2024
Learning to Swim: Reinforcement Learning for 6-DOF Control of Thruster-driven Autonomous Underwater Vehicles Levi Cai Kevin Chang Yogesh A. Girdhar 131 3 0 30 Sep 2024
The Duke Humanoid: Design and Control For Energy Efficient Bipedal Locomotion Using Passive Dynamics Boxi Xia Bokuan Li Jacob Lee Michael Scutari Boyuan Chen AI4CE 107 4 0 29 Sep 2024
Whole-body End-Effector Pose Tracking Tifanny Portela Andrei Cramariuc Mayank Mittal Marco Hutter 98 4 0 24 Sep 2024
A Learning Framework for Diverse Legged Robot Locomotion Using Barrier-Based Style Rewards Gijeong Kim Yong-Hoon Lee Hae-Won Park 137 6 0 24 Sep 2024
PIP-Loco: A Proprioceptive Infinite Horizon Planning Framework for Quadrupedal Robot Locomotion Aditya Shirwatkar Naman Saxena Kishore Chandra Shishir Kolathaya 102 4 0 14 Sep 2024
AnyBipe: An End-to-End Framework for Training and Deploying Bipedal Robots Guided by Large Language Models Yifei Yao Wentao He Chenyu Gu Jiaheng Du Fuwei Tan Zhen Zhu Junguo Lu OffRL 101 2 0 13 Sep 2024
Non-Gaited Legged Locomotion with Monte-Carlo Tree Search and Supervised Learning Ilyass Taouil Lorenzo Amatucci Majid Khadiv Angela Dai Victor Barasuol Giulio Turrisi Claudio Semini 89 1 0 14 Aug 2024
TacSL: A Library for Visuotactile Sensor Simulation and Learning Iretiayo Akinola Jie Xu Jan Carius Dieter Fox Yashraj S. Narang 98 10 0 12 Aug 2024
FORGE: Force-Guided Exploration for Robust Contact-Rich Manipulation under Uncertainty Michael Noseworthy Bingjie Tang Bowen Wen Ankur Handa Nicholas Roy Nicholas Roy Dieter Fox Yashraj S. Narang Iretiayo Akinola Iretiayo Akinola 90 11 0 08 Aug 2024
RoboMorph: Evolving Robot Morphology using Large Language Models Kevin Qiu Krzysztof Ciebiera Krzysztof Ciebiera Marek Cygan Marek Cygan Łukasz Kuciński LM&Ro 126 1 0 11 Jul 2024
Deep Reinforcement Learning for Bipedal Locomotion: A Brief Survey Lingfan Bao Josephine N. Humphreys Tianhu Peng Chengxu Zhou 95 9 0 25 Apr 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 113 15 0 08 Apr 2024
Adaptive Energy Regularization for Autonomous Gait Transition and Energy-Efficient Quadruped Locomotion Boyuan Liang Lingfeng Sun Xinghao Zhu Bike Zhang Ziyin Xiong Yixiao Wang Chenran Li Koushil Sreenath Masayoshi Tomizuka 121 3 0 29 Mar 2024
MOB-Net: Limb-modularized Uncertainty Torque Learning of Humanoids for Sensorless External Torque Estimation Daegyu Lim Myeong-Ju Kim Junhyeok Cha Jaeheung Park 83 1 0 17 Feb 2024
DITTO: Offline Imitation Learning with World Models Branton DeMoss Paul Duckworth Nick Hawes Ingmar Posner Ingmar Posner OffRL 66 18 0 06 Feb 2023
Sim-to-Real: Learning Agile Locomotion For Quadruped Robots Jie Tan Tingnan Zhang Erwin Coumans Atil Iscen Yunfei Bai Danijar Hafner Steven Bohez Vincent Vanhoucke 94 808 0 27 Apr 2018
Feedback Control For Cassie With Deep Reinforcement Learning Zhaoming Xie Glen Berseth Patrick Clary J. Hurst M. van de Panne 60 175 0 15 Mar 2018
Learning Symmetric and Low-energy Locomotion Wenhao Yu Greg Turk Chenxi Liu 111 186 0 24 Jan 2018
Sim-to-Real Transfer of Robotic Control with Dynamics Randomization Xue Bin Peng Marcin Andrychowicz Wojciech Zaremba Pieter Abbeel 114 1,367 0 18 Oct 2017
Proximal Policy Optimization Algorithms John Schulman Filip Wolski Prafulla Dhariwal Alec Radford Oleg Klimov OffRL 544 19,296 0 20 Jul 2017
Control of a Quadrotor with Reinforcement Learning Jemin Hwangbo Inkyu Sa Roland Siegwart Marco Hutter 77 482 0 17 Jul 2017
Emergence of Locomotion Behaviours in Rich Environments N. Heess TB Dhruva S. Sriram Jay Lemmon J. Merel ... Tom Erez Ziyun Wang S. M. Ali Eslami Martin Riedmiller David Silver 204 938 0 07 Jul 2017
Fast Trajectory Optimization for Legged Robots using Vertex-based ZMP Constraints Alexander Winkler Farbod Farshidian D. Pardo Michael Neunert J. Buchli 64 79 0 27 May 2017
Learning to Act by Predicting the Future Alexey Dosovitskiy V. Koltun 154 281 0 06 Nov 2016
Learning Locomotion Skills Using DeepRL: Does the Choice of Action Space Matter? Xue Bin Peng M. van de Panne 79 182 0 03 Nov 2016