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 / 328 papers shown

Title
Preference Aligned Diffusion Planner for Quadrupedal Locomotion Control Xinyi Yuan Zhiwei Shang Zifan Wang Chenkai Wang Zhao Shan Zhenchao Qi Meixin Zhu Chenjia Bai Weiwei Wan Kensuke Harada 90 4 0 17 Oct 2024
Extended Friction Models for the Physics Simulation of Servo Actuators Marc Duclusaud G. Passault Vincent Padois Olivier Ly 86 0 0 11 Oct 2024
Synthesizing Interpretable Control Policies through Large Language Model Guided Search Carlo Bosio Mark W. Mueller 59 0 0 07 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 99 0 0 04 Oct 2024
Playful DoggyBot: Learning Agile and Precise Quadrupedal Locomotion Xin Duan Ziwen Zhuang Hang Zhao Soeren Schwertfeger 123 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 140 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 111 4 0 29 Sep 2024
A Learning Framework for Diverse Legged Robot Locomotion Using Barrier-Based Style Rewards Gijeong Kim Yong-Hoon Lee Hae-Won Park 161 6 0 24 Sep 2024
Whole-body End-Effector Pose Tracking Tifanny Portela Andrei Cramariuc Mayank Mittal Marco Hutter 113 4 0 24 Sep 2024
PIP-Loco: A Proprioceptive Infinite Horizon Planning Framework for Quadrupedal Robot Locomotion Aditya Shirwatkar Naman Saxena Kishore Chandra Shishir Kolathaya 122 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 127 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 115 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 127 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 105 11 0 08 Aug 2024
Berkeley Humanoid: A Research Platform for Learning-based Control Qiayuan Liao Bike Zhang Xuanyu Huang Xiaoyu Huang Zhongyu Li Koushil Sreenath 123 24 0 31 Jul 2024
RoboMorph: Evolving Robot Morphology using Large Language Models Kevin Qiu Krzysztof Ciebiera Krzysztof Ciebiera Marek Cygan Marek Cygan Łukasz Kuciński LM&Ro 150 1 0 11 Jul 2024
Towards the Transferability of Rewards Recovered via Regularized Inverse Reinforcement Learning Andreas Schlaginhaufen Maryam Kamgarpour OffRL 47 3 0 03 Jun 2024
Learning of Balance Controller Considering Changes in Body State for Musculoskeletal Humanoids Kento Kawaharazuka Yoshimoto Ribayashi Akihiro Miki Yasunori Toshimitsu Temma Suzuki K. Okada Masayuki Inaba 59 1 0 20 May 2024
Deep Reinforcement Learning for Bipedal Locomotion: A Brief Survey Lingfan Bao Josephine N. Humphreys Tianhu Peng Chengxu Zhou 115 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 134 15 0 08 Apr 2024
Benchmarking Population-Based Reinforcement Learning across Robotic Tasks with GPU-Accelerated Simulation Asad Ali Shahid Yashraj S. Narang Vincenzo Petrone Enrico Ferrentino Ankur Handa Dieter Fox Marco Pavone L. Roveda 95 3 0 04 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 141 3 0 29 Mar 2024
Policy Bifurcation in Safe Reinforcement Learning Wenjun Zou Yao Lyu Jie Li Yujie Yang Shengbo Eben Li Jingliang Duan Xianyuan Zhan Jingjing Liu Yaqin Zhang Keqiang Li 129 1 0 19 Mar 2024
Continuous Jumping of a Parallel Wire-Driven Monopedal Robot RAMIEL Using Reinforcement Learning Kento Kawaharazuka Temma Suzuki K. Okada Masayuki Inaba 51 1 0 17 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 110 1 0 17 Feb 2024
Agile But Safe: Learning Collision-Free High-Speed Legged Locomotion Tairan He Chong Zhang Wenli Xiao Guanqi He Changliu Liu Guanya Shi 149 71 0 31 Jan 2024
Curriculum-Based Reinforcement Learning for Quadrupedal Jumping: A Reference-free Design Vassil Atanassov Jiatao Ding Jens Kober Ioannis Havoutis Cosimo Della Santina 78 9 0 29 Jan 2024
Experience-Learning Inspired Two-Step Reward Method for Efficient Legged Locomotion Learning Towards Natural and Robust Gaits Yinghui Li Jinze Wu Xin Liu Weizhong Guo Yufei Xue 105 1 0 22 Jan 2024
Actuator-Constrained Reinforcement Learning for High-Speed Quadrupedal Locomotion Young-Ha Shin Tae-Gyu Song Gwanghyeon Ji Hae-Won Park 49 4 0 29 Dec 2023
Solving the swing-up and balance task for the Acrobot and Pendubot with SAC Chi Zhang Akhil Sathuluri Markus Zimmermann 53 4 0 18 Dec 2023
On the Role of the Action Space in Robot Manipulation Learning and Sim-to-Real Transfer Elie Aljalbout Felix Frank Maximilian Karl Patrick van der Smagt 80 21 0 06 Dec 2023
BayRnTune: Adaptive Bayesian Domain Randomization via Strategic Fine-tuning Tianle Huang Nitish Sontakke K. N. Kumar Irfan Essa Stefanos Nikolaidis Dennis W. Hong Sehoon Ha 52 4 0 16 Oct 2023
Efficient Reinforcement Learning for Jumping Monopods Riccardo Bussola Michele Focchi Andrea Del Prete Daniele Fontanelli Luigi Palopoli 101 3 0 13 Sep 2023
Robot Parkour Learning Ziwen Zhuang Zipeng Fu Jianren Wang Christopher G Atkeson Soeren Schwertfeger Chelsea Finn Hang Zhao 131 162 0 11 Sep 2023
Pre- and post-contact policy decomposition for non-prehensile manipulation with zero-shot sim-to-real transfer Minchan Kim Junhyek Han Jaehyung Kim Beomjoon Kim 80 17 0 06 Sep 2023
Learning Multiple Gaits within Latent Space for Quadruped Robots Jinze Wu Yufei Xue Chenkun Qi 85 18 0 06 Aug 2023
LeggedWalking on Inclined Surfaces Chenghao Wang 78 1 0 31 May 2023
On the Linear Convergence of Policy Gradient under Hadamard Parameterization Jiacai Liu Jinchi Chen Ke Wei 61 3 0 31 May 2023
Testing of Deep Reinforcement Learning Agents with Surrogate Models Matteo Biagiola Paolo Tonella 97 20 0 22 May 2023
Enhancing Efficiency of Quadrupedal Locomotion over Challenging Terrains with Extensible Feet L. Kumar Sarvesh Sortee Titas Bera Ranjan Dasgupta 35 0 0 03 May 2023
Learning Agile Soccer Skills for a Bipedal Robot with Deep Reinforcement Learning Tuomas Haarnoja Ben Moran Guy Lever Sandy H. Huang Dhruva Tirumala ... Andrea Huber N. Hurley F. Nori R. Hadsell N. Heess 134 153 0 26 Apr 2023
Learning and Adapting Agile Locomotion Skills by Transferring Experience Laura M. Smith J. Kew Tianyu Li Linda Luu Xue Bin Peng Sehoon Ha Jie Tan Sergey Levine 103 56 0 19 Apr 2023
Torque-based Deep Reinforcement Learning for Task-and-Robot Agnostic Learning on Bipedal Robots Using Sim-to-Real Transfer Donghyeon Kim Glen Berseth M. Schwartz Jaeheung Park 80 21 0 19 Apr 2023
Continuous Versatile Jumping Using Learned Action Residuals Yuxiang Yang Xiang Meng Wenhao Yu Tingnan Zhang Jie Tan Byron Boots 99 11 0 17 Apr 2023
Informed Guided Rapidly-Exploring Random Trees*-Connect for Path Planning of Walking Robots D. Belter 40 5 0 06 Mar 2023
DDCNN: A Promising Tool for Simulation-To-Reality UAV Fault Diagnosis Wei Zhang Shanze Wang Junjie Tong F. Liao Yunfeng Zhang Xiaoyu Shen 46 2 0 16 Feb 2023
DITTO: Offline Imitation Learning with World Models Branton DeMoss Paul Duckworth Nick Hawes Ingmar Posner Ingmar Posner OffRL 68 18 0 06 Feb 2023
DreamWaQ: Learning Robust Quadrupedal Locomotion With Implicit Terrain Imagination via Deep Reinforcement Learning Aswin Nahrendra Byeong-Uk Yu Hyunsam Myung 116 92 0 25 Jan 2023
Teleoperation of Humanoid Robots: A Survey Kourosh Darvish Luigi Penco Joao Ramos Rafael Cisneros J. Pratt E. Yoshida S. Ivaldi Daniele Pucci 81 134 0 11 Jan 2023
Orbit: A Unified Simulation Framework for Interactive Robot Learning Environments Mayank Mittal C. Yu Qinxi Yu Jingzhou Liu Nikita Rudin ... Ajay Mandlekar Buck Babich Gavriel State Marco Hutter Animesh Garg 115 210 0 10 Jan 2023