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 / 329 papers shown

Title
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
Cascaded Compositional Residual Learning for Complex Interactive Behaviors K. N. Kumar Irfan Essa Sehoon Ha 82 14 0 17 Dec 2022
Sim-to-Real Transfer for Quadrupedal Locomotion via Terrain Transformer Hang Lai Weinan Zhang Xialin He Chen Yu Zheng Tian Yong Yu Jun Wang 107 21 0 15 Dec 2022
Learning rigid dynamics with face interaction graph networks Kelsey R. Allen Yulia Rubanova Tatiana López-Guevara William F. Whitney Alvaro Sanchez-Gonzalez Peter W. Battaglia Tobias Pfaff 3DH GNN AI4CE 99 36 0 07 Dec 2022
Walk These Ways: Tuning Robot Control for Generalization with Multiplicity of Behavior G. Margolis Pulkit Agrawal 87 166 0 06 Dec 2022
Discovering Unsupervised Behaviours from Full-State Trajectories Luca Grillotti Antoine Cully 85 1 0 22 Nov 2022
Legged Locomotion in Challenging Terrains using Egocentric Vision Ananye Agarwal Ashish Kumar Jitendra Malik Deepak Pathak 91 216 0 14 Nov 2022
Learning Visual Locomotion with Cross-Modal Supervision Antonio Loquercio Ashish Kumar Jitendra Malik SSL 100 43 0 07 Nov 2022
CPG-RL: Learning Central Pattern Generators for Quadruped Locomotion Guillaume Bellegarda A. Ijspeert 98 83 0 01 Nov 2022
Learning Modular Robot Locomotion from Demonstrations Julian Whitman Howie Choset 89 1 0 31 Oct 2022
Learning Deep Sensorimotor Policies for Vision-based Autonomous Drone Racing Jiawei Fu Yunlong Song Yongpeng Wu Feng Yu Davide Scaramuzza 106 21 0 26 Oct 2022
Deep Whole-Body Control: Learning a Unified Policy for Manipulation and Locomotion Zipeng Fu Xuxin Cheng Deepak Pathak 102 159 0 18 Oct 2022
Central pattern generators evolved for real-time adaptation to rhythmic stimuli A. Szorkovszky Frank Veenstra K. Glette 111 4 0 14 Oct 2022
NeRF2Real: Sim2real Transfer of Vision-guided Bipedal Motion Skills using Neural Radiance Fields Arunkumar Byravan Jan Humplik Leonard Hasenclever Arthur Brussee F. Nori ... Ben Moran Steven Bohez Fereshteh Sadeghi Bojan Vujatovic N. Heess 150 57 0 10 Oct 2022
Efficient Learning of Locomotion Skills through the Discovery of Diverse Environmental Trajectory Generator Priors Shikha Surana Bryan Lim Antoine Cully 79 4 0 10 Oct 2022
Meta Reinforcement Learning for Optimal Design of Legged Robots Álvaro Belmonte-Baeza Joonho Lee Giorgio Valsecchi Marco Hutter 104 18 0 06 Oct 2022
OPT-Mimic: Imitation of Optimized Trajectories for Dynamic Quadruped Behaviors Yuni Fuchioka Zhaoming Xie M. van de Panne 92 44 0 03 Oct 2022
Zero-Shot Retargeting of Learned Quadruped Locomotion Policies Using Hybrid Kinodynamic Model Predictive Control He Li Tingnan Zhang Wenhao Yu Patrick M. Wensing 82 8 0 28 Sep 2022
Learning and Deploying Robust Locomotion Policies with Minimal Dynamics Randomization Luigi Campanaro Siddhant Gangapurwala W. Merkt Ioannis Havoutis 95 14 0 26 Sep 2022
Advanced Skills by Learning Locomotion and Local Navigation End-to-End Nikita Rudin David Hoeller Marko Bjelonic Marco Hutter 144 79 0 26 Sep 2022
Quantification before Selection: Active Dynamics Preference for Robust Reinforcement Learning Kang Xu Yan Ma Wei Li 97 0 0 23 Sep 2022
Versatile Skill Control via Self-supervised Adversarial Imitation of Unlabeled Mixed Motions Chenhao Li Sebastian Blaes Pavel Kolev Marin Vlastelica Jonas Frey Georg Martius SSL 124 31 0 16 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 156 65 0 12 Sep 2022
Learning Ball-balancing Robot Through Deep Reinforcement Learning Yifan Zhou Jianghao Lin Shuai Wang Chong Zhang 23 9 0 22 Aug 2022
Hierarchical Reinforcement Learning for Precise Soccer Shooting Skills using a Quadrupedal Robot Yandong Ji Zhongyu Li Yinan Sun Xue Bin Peng Sergey Levine Glen Berseth Koushil Sreenath 85 67 0 01 Aug 2022
PrePARE: Predictive Proprioception for Agile Failure Event Detection in Robotic Exploration of Extreme Terrains S. Dey David D. Fan Robin Schmid Anushri Dixit K. Otsu Thomas Touma Arndt F. Schilling Ali-akbar Agha-mohammadi 89 10 0 30 Jul 2022
Learning Dynamic Manipulation Skills from Haptic-Play Taeyoon Lee D. Sung Kyoung-Whan Choi Choong-Keun Lee Changwoo Park Keunjun Choi 80 3 0 28 Jul 2022
Learning Bipedal Walking On Planned Footsteps For Humanoid Robots R. P. Singh M. Benallegue M. Morisawa Rafael Cisneros F. Kanehiro 86 17 0 26 Jul 2022
An Optimal Motion Planning Framework for Quadruped Jumping Zhitao Song Linzhu Yue Guangli Sun Yihu Ling Hongshuo Wei Linhai Gui Yun-Hui Liu 46 20 0 25 Jul 2022
Rethinking Sim2Real: Lower Fidelity Simulation Leads to Higher Sim2Real Transfer in Navigation Joanne Truong M. Rudolph Naoki Yokoyama Sonia Chernova Dhruv Batra Akshara Rai 92 41 0 21 Jul 2022
Parallel Monte Carlo Tree Search with Batched Rigid-body Simulations for Speeding up Long-Horizon Episodic Robot Planning Baichuan Huang Abdeslam Boularias Jingjin Yu 63 10 0 14 Jul 2022
i-Sim2Real: Reinforcement Learning of Robotic Policies in Tight Human-Robot Interaction Loops Saminda Abeyruwan L. Graesser David B. DÁmbrosio Avi Singh Anish Shankar Alex Bewley Deepali Jain K. Choromanski Pannag R Sanketi 122 50 0 14 Jul 2022
Reinforcement Learning of CPG-regulated Locomotion Controller for a Soft Snake Robot Xuan Liu C. Onal Jie Fu 71 17 0 11 Jul 2022
Learning fast and agile quadrupedal locomotion over complex terrain Xu Chang Zhitong Zhang Honglei An Hongxu Ma Qing Wei 50 0 0 02 Jul 2022
Learning Variable Impedance Control for Aerial Sliding on Uneven Heterogeneous Surfaces by Proprioceptive and Tactile Sensing Weixuan Zhang Lionel Ott M. Tognon Roland Siegwart 73 25 0 28 Jun 2022
Phasic Self-Imitative Reduction for Sparse-Reward Goal-Conditioned Reinforcement Learning Yunfei Li Tian Gao Jiaqi Yang Huazhe Xu Yi Wu OffRL 100 22 0 24 Jun 2022
A Survey on Model-based Reinforcement Learning Fan Luo Tian Xu Hang Lai Xiong-Hui Chen Weinan Zhang Yang Yu OffRL LRM 118 110 0 19 Jun 2022
GMI-DRL: Empowering Multi-GPU Deep Reinforcement Learning with GPU Spatial Multiplexing Yuke Wang Boyuan Feng Ziyi Wang Tong Geng Ang Li Yufei Ding AI4CE 66 0 0 16 Jun 2022
Neural Scene Representation for Locomotion on Structured Terrain David Hoeller Nikita Rudin Chris Choy Anima Anandkumar Marco Hutter 98 33 0 16 Jun 2022
Transferable Reward Learning by Dynamics-Agnostic Discriminator Ensemble Fan Luo Xingchen Cao Rong-Jun Qin Yang Yu 99 3 0 01 Jun 2022
AdaptiveON: Adaptive Outdoor Local Navigation Method For Stable and Reliable Actions Jing Liang K. Weerakoon Tianrui Guan N. Karapetyan Tianyi Zhou 106 12 0 07 May 2022
Rapid Locomotion via Reinforcement Learning G. Margolis Ge Yang Kartik Paigwar Tao Chen Pulkit Agrawal 112 242 0 05 May 2022
VAE-Loco: Versatile Quadruped Locomotion by Learning a Disentangled Gait Representation Alexander L. Mitchell W. Merkt Mathieu Geisert Siddhant Gangapurwala Martin Engelcke Oiwi Parker Jones Ioannis Havoutis Ingmar Posner 76 3 0 02 May 2022
Human Motion Control of Quadrupedal Robots using Deep Reinforcement Learning Sunwoo Kim Maks Sorokin Jehee Lee Sehoon Ha 80 14 0 28 Apr 2022
Optimizing Nitrogen Management with Deep Reinforcement Learning and Crop Simulations Jing Wu Ran Tao Pan Zhao N. F. Martin N. Hovakimyan OffRL 69 46 0 21 Apr 2022
Hybrid LMC: Hybrid Learning and Model-based Control for Wheeled Humanoid Robot via Ensemble Deep Reinforcement Learning D. Baek Amartya Purushottam Joao Ramos 78 10 0 07 Apr 2022
Imitate and Repurpose: Learning Reusable Robot Movement Skills From Human and Animal Behaviors Steven Bohez S. Tunyasuvunakool Philemon Brakel Fereshteh Sadeghi Leonard Hasenclever ... Nathan Batchelor Federico Casarini J. Merel R. Hadsell N. Heess 93 51 0 31 Mar 2022
Advanced Skills through Multiple Adversarial Motion Priors in Reinforcement Learning Eric Vollenweider Marko Bjelonic Victor Klemm Nikita Rudin Joonho Lee Marco Hutter 87 73 0 23 Mar 2022
Real-time Neural-MPC: Deep Learning Model Predictive Control for Quadrotors and Agile Robotic Platforms Tim Salzmann Elia Kaufmann Jon Arrizabalaga Marco Pavone Davide Scaramuzza Markus Ryll 108 98 0 15 Mar 2022
Learning Torque Control for Quadrupedal Locomotion Shuxiao Chen Bike Zhang M. Mueller Akshara Rai Koushil Sreenath 78 39 0 10 Mar 2022