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
Leveraging Randomized Smoothing for Optimal Control of Nonsmooth Dynamical Systems Quentin Le Lidec Fabian Schramm Louis Montaut Cordelia Schmid Ivan Laptev Justin Carpentier 108 24 0 08 Mar 2022
A Transferable Legged Mobile Manipulation Framework Based on Disturbance Predictive Control Qingfeng Yao Jilong Wang Shuyu Yang Cong Wang Linghan Meng Qifeng Zhang Donglin Wang 79 6 0 02 Mar 2022
Reactive Stepping for Humanoid Robots using Reinforcement Learning: Application to Standing Push Recovery on the Exoskeleton Atalante Alexis Duburcq Fabian Schramm Guilhem Boéris Nicolas Bredèche Y. Chevaleyre 79 9 0 02 Mar 2022
A Recurrent Differentiable Engine for Modeling Tensegrity Robots Trainable with Low-Frequency Data Kun Wang Mridul Aanjaneya Kostas Bekris 78 7 0 28 Feb 2022
Reinforcement Learning in Practice: Opportunities and Challenges Yuxi Li OffRL 64 9 0 23 Feb 2022
Real-time Model Predictive Control and System Identification Using Differentiable Physics Simulation Sirui Chen Keenon Werling A. Wu Chenxi Liu 82 6 0 20 Feb 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 83 148 0 11 Feb 2022
The need for and feasibility of alternative ground robots to traverse sandy and rocky extraterrestrial terrain Chen Li K. Lewis 38 12 0 28 Jan 2022
Evolution Gym: A Large-Scale Benchmark for Evolving Soft Robots Jagdeep Bhatia Holly Jackson Yunsheng Tian Jie Xu Wojciech Matusik 88 82 0 24 Jan 2022
Large-Dimensional Multibody Dynamics Simulation Using Contact Nodalization and Diagonalization Jeongmin Lee Minji Lee Dongjun Lee AI4CE 50 4 0 23 Jan 2022
Learning robust perceptive locomotion for quadrupedal robots in the wild Takahiro Miki Joonho Lee Jemin Hwangbo Lorenz Wellhausen V. Koltun Marco Hutter 137 715 0 20 Jan 2022
Combining Learning-based Locomotion Policy with Model-based Manipulation for Legged Mobile Manipulators Yuntao Ma Farbod Farshidian Takahiro Miki Joonho Lee Marco Hutter 100 77 0 11 Jan 2022
Using Simulation Optimization to Improve Zero-shot Policy Transfer of Quadrotors Sven Gronauer Matthias Kissel L. Sacchetto Mathias Korte Klaus Diepold 52 6 0 04 Jan 2022
Learning Free Gait Transition for Quadruped Robots via Phase-Guided Controller Yecheng Shao Yongbin Jin Xianwei Liu Weiyan He Hongtao Wang Wei Yang 62 60 0 01 Jan 2022
Invariance Through Latent Alignment Takuma Yoneda Ge Yang Matthew R. Walter Bradly C. Stadie OOD 67 9 0 15 Dec 2021
Learning multiple gaits of quadruped robot using hierarchical reinforcement learning Yunho Kim Bukun Son Dongjun Lee 69 9 0 09 Dec 2021
Policy Search for Model Predictive Control with Application to Agile Drone Flight Yunlong Song Davide Scaramuzza 92 86 0 07 Dec 2021
Reinforcement Learning for Navigation of Mobile Robot with LiDAR Inhwan Kim S. Nengroo Dongsoo Har 63 13 0 06 Dec 2021
Benchmark for Out-of-Distribution Detection in Deep Reinforcement Learning Aaqib Parvez Mohammed Matias Valdenegro-Toro OOD OffRL 51 10 0 05 Dec 2021
Coupling Vision and Proprioception for Navigation of Legged Robots Zipeng Fu Ashish Kumar Ananye Agarwal Haozhi Qi Jitendra Malik Deepak Pathak 70 78 0 03 Dec 2021
$Improving the Robustness of Reinforcement Learning Policies with $\mathcal{L}_{1}$ Adaptive Control$ Improving the Robustness of Reinforcement Learning Policies with $\mathcal{L}_{1}$ Adaptive Control Y. Cheng Penghui Zhao F. Wang D. Block N. Hovakimyan 119 9 0 03 Dec 2021
Validate on Sim, Detect on Real -- Model Selection for Domain Randomization Gal Leibovich Guy Jacob Shadi Endrawis Gal Novik Aviv Tamar 98 7 0 01 Nov 2021
Learning Coordinated Terrain-Adaptive Locomotion by Imitating a Centroidal Dynamics Planner Philemon Brakel Steven Bohez Leonard Hasenclever N. Heess Konstantinos Bousmalis 120 17 0 30 Oct 2021
Learning to Jump from Pixels G. Margolis Tao Chen Kartik Paigwar Xiang Fu Donghyun Kim Sangbae Kim Pulkit Agrawal 111 84 0 28 Oct 2021
Minimizing Energy Consumption Leads to the Emergence of Gaits in Legged Robots Zipeng Fu Ashish Kumar Jitendra Malik Deepak Pathak 87 120 0 25 Oct 2021
A Differentiable Newton-Euler Algorithm for Real-World Robotics M. Lutter Vallijah Subasri Joe Watson Frank Rudzicz 80 7 0 24 Oct 2021
Auditing Robot Learning for Safety and Compliance during Deployment Homanga Bharadhwaj 30 4 0 12 Oct 2021
Legged Robots that Keep on Learning: Fine-Tuning Locomotion Policies in the Real World Laura M. Smith J. Kew Xue Bin Peng Sehoon Ha Jie Tan Sergey Levine 115 103 0 11 Oct 2021
Correct Me if I am Wrong: Interactive Learning for Robotic Manipulation Eugenio Chisari Tim Welschehold Joschka Boedecker Wolfram Burgard Abhinav Valada 59 40 0 07 Oct 2021
Combining Physics and Deep Learning to learn Continuous-Time Dynamics Models M. Lutter Jan Peters PINN AI4CE 97 42 0 05 Oct 2021
Vision-Guided Quadrupedal Locomotion in the Wild with Multi-Modal Delay Randomization C. Imai Minghao Zhang Yuchen Zhang Marcin Kierebinski Ruihan Yang Yuzhe Qin Xiaolong Wang 123 33 0 29 Sep 2021
Lyapunov-stable neural-network control Hongkai Dai Benoit Landry Lujie Yang Marco Pavone Russ Tedrake 102 125 0 29 Sep 2021
PM-FSM: Policies Modulating Finite State Machine for Robust Quadrupedal Locomotion Ren Liu Nitish Sontakke Sehoon Ha 83 2 0 26 Sep 2021
Linear Policies are Sufficient to Realize Robust Bipedal Walking on Challenging Terrains L. Krishna Guillermo A. Castillo Utkarsh Aashu Mishra Ayonga Hereid Shishir Kolathaya 88 24 0 26 Sep 2021
Learning to Walk in Minutes Using Massively Parallel Deep Reinforcement Learning Nikita Rudin David Hoeller Philipp Reist Marco Hutter 259 582 0 24 Sep 2021
Direct Random Search for Fine Tuning of Deep Reinforcement Learning Policies Sean Gillen Asutay Ozmen Katie Byl 25 0 0 12 Sep 2021
Modeling and Trajectory Optimization for Standing Long Jumping of a Quadruped with A Preloaded Elastic Prismatic Spine Keran Ye Konstantinos Karydis 44 11 0 01 Sep 2021
Isaac Gym: High Performance GPU-Based Physics Simulation For Robot Learning Viktor Makoviychuk Lukasz Wawrzyniak Yunrong Guo Michelle Lu Kier Storey ... David Hoeller Nikita Rudin Arthur Allshire Ankur Handa Gavriel State 188 1,092 0 24 Aug 2021
Transferring Dexterous Manipulation from GPU Simulation to a Remote Real-World TriFinger Arthur Allshire Mayank Mittal Varun Lodaya Viktor Makoviychuk Denys Makoviichuk Felix Widmaier Manuel Wüthrich Stefan Bauer Ankur Handa Animesh Garg 104 72 0 22 Aug 2021
Low-level Pose Control of Tilting Multirotor for Wall Perching Tasks Using Reinforcement Learning Hyungyu Lee Myeongwoo Jeong Chanyoung Kim Hyungtae Lim Changgue Park Sungwon Hwang Hyun Myung 64 4 0 11 Aug 2021
BEHAVIOR: Benchmark for Everyday Household Activities in Virtual, Interactive, and Ecological Environments S. Srivastava Chengshu Li Michael Lingelbach Roberto Martín-Martín Fei Xia ... Chenxi Liu Silvio Savarese H. Gweon Jiajun Wu Li Fei-Fei LM&Ro 251 168 0 06 Aug 2021
Adaptive Identification of Legged Robotic Kinematic Structure Bolun Dai 21 1 0 25 Jul 2021
Versatile modular neural locomotion control with fast learning M. Thor P. Manoonpong 72 25 0 16 Jul 2021
Model-free Reinforcement Learning for Robust Locomotion using Demonstrations from Trajectory Optimization Miroslav Bogdanovic Majid Khadiv Ludovic Righetti 194 31 0 14 Jul 2021
RMA: Rapid Motor Adaptation for Legged Robots Ashish Kumar Zipeng Fu Deepak Pathak Jitendra Malik 180 584 0 08 Jul 2021
Learning Vision-Guided Quadrupedal Locomotion End-to-End with Cross-Modal Transformers Ruihan Yang Minghao Zhang Nicklas Hansen Huazhe Xu Xiaolong Wang OffRL 80 108 0 08 Jul 2021
Advanced turning maneuver of a multi-legged robot using pitchfork bifurcation S. Aoi Ryoe Tomatsu Y. Yabuuchi Daiki Morozumi Kota Okamoto S. Fujiki K. Senda K. Tsuchiya 63 2 0 05 Jul 2021
Cat-like Jumping and Landing of Legged Robots in Low-gravity Using Deep Reinforcement Learning Nikita Rudin H. Kolvenbach Vassilios Tsounis Marco Hutter 81 85 0 17 Jun 2021
Traversing Steep and Granular Martian Analog Slopes With a Dynamic Quadrupedal Robot H. Kolvenbach Philip Arm Elias Hampp Alex Dietsche V. Bickel Benjamin Sun Christophe Meyer Marco Hutter 34 23 0 03 Jun 2021
DeepWalk: Omnidirectional Bipedal Gait by Deep Reinforcement Learning Diego Rodriguez Sven Behnke 96 48 0 01 Jun 2021