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
Q-attention: Enabling Efficient Learning for Vision-based Robotic Manipulation Stephen James Andrew J. Davison 85 129 0 31 May 2021
Safe Value Functions P. Massiani Steve Heim Friedrich Solowjow Sebastian Trimpe 88 16 0 25 May 2021
From Motor Control to Team Play in Simulated Humanoid Football Siqi Liu Guy Lever Zhe Wang J. Merel S. M. Ali Eslami ... Tuomas Haarnoja Brendan D. Tracey K. Tuyls T. Graepel N. Heess 117 133 0 25 May 2021
GLiDE: Generalizable Quadrupedal Locomotion in Diverse Environments with a Centroidal Model Zhaoming Xie Xingye Da Buck Babich Animesh Garg M. van de Panne 89 67 0 20 Apr 2021
Two-stage training algorithm for AI robot soccer Taeyoung Kim L. Vecchietti Kyujin Choi Sanem Sariel Dongsoo Har 120 7 0 13 Apr 2021
Fast and Efficient Locomotion via Learned Gait Transitions Yuxiang Yang Tingnan Zhang Erwin Coumans Jie Tan Byron Boots 79 92 0 09 Apr 2021
General Robot Dynamics Learning and Gen2Real Dengpeng Xing Jiale Li Yiming Yang Bo Xu DRL AI4CE 41 3 0 06 Apr 2021
Residual Model Learning for Microrobot Control Joshua Gruenstein Tao Chen Neel Doshi Pulkit Agrawal 48 4 0 01 Apr 2021
Imitation Learning from MPC for Quadrupedal Multi-Gait Control Alexander Reske Jan Carius Yuntao Ma Farbod Farshidian Marco Hutter 83 38 0 26 Mar 2021
Reinforcement Learning for Robust Parameterized Locomotion Control of Bipedal Robots Zhongyu Li Xuxin Cheng Xue Bin Peng Pieter Abbeel Sergey Levine Glen Berseth Koushil Sreenath 101 221 0 26 Mar 2021
Safe Multi-Agent Reinforcement Learning through Decentralized Multiple Control Barrier Functions Zhiyuan Cai Huanhui Cao Wenjie Lu Lin Zhang Hao Xiong 40 27 0 23 Mar 2021
Robust High-speed Running for Quadruped Robots via Deep Reinforcement Learning Guillaume Bellegarda Yiyu Chen Zhuochen Liu Quan Nguyen 83 47 0 11 Mar 2021
Learning a State Representation and Navigation in Cluttered and Dynamic Environments David Hoeller Lorenz Wellhausen Farbod Farshidian Marco Hutter SSL 66 79 0 07 Mar 2021
Improved Learning of Robot Manipulation Tasks via Tactile Intrinsic Motivation Nikola Vulin Sammy Christen Stefan Stevšić Otmar Hilliges 51 19 0 22 Feb 2021
A Survey of Machine Learning for Computer Architecture and Systems Nan Wu Yuan Xie AI4TS AI4CE 105 152 0 16 Feb 2021
Nonstochastic Bandits with Infinitely Many Experts X. Meng Tuhin Sarkar M. Dahleh OffRL 47 1 0 09 Feb 2021
How to Train Your Robot with Deep Reinforcement Learning; Lessons We've Learned Julian Ibarz Jie Tan Chelsea Finn Mrinal Kalakrishnan P. Pastor Sergey Levine OffRL 158 534 0 04 Feb 2021
Active Model Learning using Informative Trajectories for Improved Closed-Loop Control on Real Robots Weixuan Zhang M. Tognon Lionel Ott Roland Siegwart Juan I. Nieto 63 7 0 20 Jan 2021
Meta-Reinforcement Learning for Adaptive Motor Control in Changing Robot Dynamics and Environments Timothée Anne Jack Wilkinson Zhibin Li 75 1 0 19 Jan 2021
A Spiking Central Pattern Generator for the control of a simulated lamprey robot running on SpiNNaker and Loihi neuromorphic boards Emmanouil Angelidis Emanuel Buchholz Jonathan Arreguit A. Rougé T. Stewart Axel Von Arnim Alois C. Knoll A. Ijspeert 61 28 0 18 Jan 2021
SimGAN: Hybrid Simulator Identification for Domain Adaptation via Adversarial Reinforcement Learning Yifeng Jiang Tingnan Zhang Daniel Ho Yunfei Bai Chenxi Liu Sergey Levine Jie Tan GAN 97 56 0 15 Jan 2021
Asymmetric self-play for automatic goal discovery in robotic manipulation OpenAI OpenAI Matthias Plappert Raul Sampedro Tao Xu Ilge Akkaya ... Hyeonwoo Noh Lilian Weng Qiming Yuan Casey Chu Wojciech Zaremba SSL 136 79 0 13 Jan 2021
Context-Aware Safe Reinforcement Learning for Non-Stationary Environments Baiming Chen Zuxin Liu Jiacheng Zhu Mengdi Xu Wenhao Ding Ding Zhao 64 38 0 02 Jan 2021
Explicitly Encouraging Low Fractional Dimensional Trajectories Via Reinforcement Learning Sean Gillen Katie Byl 13 2 0 21 Dec 2020
Representation-Free Model Predictive Control for Dynamic Motions in Quadrupeds Yanran Ding Abhishek Pandala Chuanzheng Li Young-Ha Shin Hae-Won Park 81 139 0 18 Dec 2020
Protective Policy Transfer Wenhao Yu Chenxi Liu Greg Turk AAML 121 2 0 11 Dec 2020
Structured learning of rigid-body dynamics: A survey and unified view from a robotics perspective A. R. Geist Sebastian Trimpe AI4CE 90 17 0 11 Dec 2020
Multi-expert learning of adaptive legged locomotion Chuanyu Yang Kai Yuan Qiuguo Zhu Wanming Yu Zhibin Li 178 188 0 10 Dec 2020
Perspectives on Sim2Real Transfer for Robotics: A Summary of the R:SS 2020 Workshop Sebastian Hofer Kostas Bekris Ankur Handa Juan Camilo Gamboa Florian Golemo ... Chenxi Liu Jan Peters Shuran Song Peter Welinder M. White 78 53 0 07 Dec 2020
RLOC: Terrain-Aware Legged Locomotion using Reinforcement Learning and Optimal Control Siddhant Gangapurwala Mathieu Geisert Romeo Orsolino Maurice F. Fallon Ioannis Havoutis 157 118 0 05 Dec 2020
Learning from Simulation, Racing in Reality Eugenio Chisari Alexander Liniger Alisa Rupenyan Luc Van Gool John Lygeros 68 25 0 26 Nov 2020
Regret Bounds for Adaptive Nonlinear Control Nicholas M. Boffi Stephen Tu Jean-Jacques E. Slotine 94 48 0 26 Nov 2020
From Pixels to Legs: Hierarchical Learning of Quadruped Locomotion Deepali Jain Atil Iscen Ken Caluwaerts 66 35 0 23 Nov 2020
SoftGym: Benchmarking Deep Reinforcement Learning for Deformable Object Manipulation Xingyu Lin Yufei Wang Jake Olkin David Held 97 218 0 14 Nov 2020
Phoebe: Reuse-Aware Online Caching with Reinforcement Learning for Emerging Storage Models Nan Wu Pengcheng Li 51 7 0 13 Nov 2020
Robust Quadruped Jumping via Deep Reinforcement Learning Guillaume Bellegarda Chuong H. Nguyen Quan Nguyen 78 64 0 13 Nov 2020
Joint Space Control via Deep Reinforcement Learning Visak C. V. Kumar David Hoeller Balakumar Sundaralingam Jonathan Tremblay Stan Birchfield DRL 85 16 0 12 Nov 2020
Learning Agile Locomotion Skills with a Mentor Atil Iscen George Yu Alejandro Escontrela Deepali Jain Jie Tan Ken Caluwaerts 71 14 0 11 Nov 2020
Zero-Shot Terrain Generalization for Visual Locomotion Policies Alejandro Escontrela George Yu P. Xu Atil Iscen Jie Tan 59 17 0 11 Nov 2020
Preference-Based Learning for User-Guided HZD Gait Generation on Bipedal Walking Robots Maegan Tucker Noel Csomay-Shanklin Wen-Loong Ma Aaron D. Ames 37 23 0 10 Nov 2020
Learning Task Space Actions for Bipedal Locomotion Helei Duan Jeremy Dao Kevin R. Green Taylor Apgar Alan Fern J. Hurst 58 45 0 09 Nov 2020
f-IRL: Inverse Reinforcement Learning via State Marginal Matching Tianwei Ni Harshit S. Sikchi Yufei Wang Tejus Gupta Lisa Lee Benjamin Eysenbach 84 73 0 09 Nov 2020
NeuralSim: Augmenting Differentiable Simulators with Neural Networks Eric Heiden David Millard Erwin Coumans Yizhou Sheng Gaurav Sukhatme 67 140 0 09 Nov 2020
Dynamics Randomization Revisited:A Case Study for Quadrupedal Locomotion Zhaoming Xie Xingye Da M. van de Panne Buck Babich Animesh Garg 87 92 0 04 Nov 2020
Policy Transfer via Kinematic Domain Randomization and Adaptation Ioannis Exarchos Yifeng Jiang Wenhao Yu Chenxi Liu 46 28 0 03 Nov 2020
Differentiable Physics Models for Real-world Offline Model-based Reinforcement Learning M. Lutter Johannes Silberbauer Joe Watson Jan Peters OffRL 90 34 0 03 Nov 2020
Sim-to-Real Learning of All Common Bipedal Gaits via Periodic Reward Composition J. Siekmann Yesh Godse Alan Fern J. Hurst 100 159 0 02 Nov 2020
Robust Quadrupedal Locomotion on Sloped Terrains: A Linear Policy Approach Kartik Paigwar L. Krishna Sashank Tirumala Naman Khetan Aditya Sagi Ashish Joglekar S. Bhatnagar A. Ghosal B. Amrutur Shishir Kolathaya 92 17 0 30 Oct 2020
Learning to Plan Optimistically: Uncertainty-Guided Deep Exploration via Latent Model Ensembles Tim Seyde Wilko Schwarting S. Karaman Daniela Rus 94 14 0 27 Oct 2020
Learning Quadrupedal Locomotion over Challenging Terrain Joonho Lee Jemin Hwangbo Lorenz Wellhausen V. Koltun Marco Hutter 155 1,179 0 21 Oct 2020