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
Learning Spring Mass Locomotion: Guiding Policies with a Reduced-Order Model Kevin R. Green Yesh Godse Jeremy Dao Ross L. Hatton Alan Fern J. Hurst 53 43 0 21 Oct 2020
On the Guaranteed Almost Equivalence between Imitation Learning from Observation and Demonstration Zhihao Cheng Liu Liu Aishan Liu Hao Sun Meng Fang Dacheng Tao 35 10 0 16 Oct 2020
Self-Imitation Learning for Robot Tasks with Sparse and Delayed Rewards Zhixin Chen Mengxiang Lin 56 6 0 14 Oct 2020
Whole-Body MPC and Online Gait Sequence Generation for Wheeled-Legged Robots Marko Bjelonic R. Grandia Oliver Harley Cla Galliard Samuel Zimmermann Marco Hutter 116 69 0 13 Oct 2020
Learning a Contact-Adaptive Controller for Robust, Efficient Legged Locomotion Xingye Da Zhaoming Xie David Hoeller Byron Boots Anima Anandkumar Yuke Zhu Buck Babich Animesh Garg 106 58 0 21 Sep 2020
Safe Active Dynamics Learning and Control: A Sequential Exploration-Exploitation Framework T. Lew Apoorva Sharma James Harrison Andrew Bylard Marco Pavone 98 47 0 26 Aug 2020
Super-Human Performance in Gran Turismo Sport Using Deep Reinforcement Learning Florian Fuchs Yunlong Song Elia Kaufmann Davide Scaramuzza Peter Dürr 80 128 0 18 Aug 2020
Crossing The Gap: A Deep Dive into Zero-Shot Sim-to-Real Transfer for Dynamics Eugene Valassakis Zihan Ding Edward Johns 37 45 0 15 Aug 2020
A soft robot that adapts to environments through shape change Dylan S. Shah Joshua P. Powers Liana G. Tilton Sam Kriegman Josh Bongard Rebecca Kramer‐Bottiglio 80 147 0 14 Aug 2020
Towards General and Autonomous Learning of Core Skills: A Case Study in Locomotion Roland Hafner Tim Hertweck Philipp Kloppner Michael Bloesch Michael Neunert Markus Wulfmeier S. Tunyasuvunakool N. Heess Martin Riedmiller 85 20 0 06 Aug 2020
An Imitation from Observation Approach to Transfer Learning with Dynamics Mismatch Siddarth Desai Ishan Durugkar Haresh Karnan Garrett A. Warnell Josiah P. Hanna Peter Stone 48 5 0 04 Aug 2020
Learning Agile Locomotion via Adversarial Training Yujin Tang Jie Tan Tatsuya Harada 70 15 0 03 Aug 2020
Learning Stable Manoeuvres in Quadruped Robots from Expert Demonstrations Sashank Tirumala S. Gubbi Kartik Paigwar Aditya Sagi Ashish Joglekar S. Bhatnagar A. Ghosal B. Amrutur Shishir Kolathaya 65 4 0 28 Jul 2020
Lifelong Incremental Reinforcement Learning with Online Bayesian Inference Zhi Wang Chunlin Chen D. Dong CLL OffRL 74 56 0 28 Jul 2020
Off-Policy Reinforcement Learning for Efficient and Effective GAN Architecture Search Yuan Tian Qin Wang Zhiwu Huang Wen Li Dengxin Dai Minghao Yang Jun Wang Olga Fink OffRL 91 61 0 17 Jul 2020
Augmenting Differentiable Simulators with Neural Networks to Close the Sim2Real Gap Eric Heiden David Millard Erwin Coumans Gaurav Sukhatme 92 21 0 12 Jul 2020
Data-Driven Multi-Objective Controller Optimization for a Magnetically-Levitated Nanopositioning System Xiaocong Li H. Zhu Jun Ma T. J. Teo C. Teo Masayoshi Tomizuka Tong-heng Lee 68 34 0 06 Jul 2020
Learning dynamics for improving control of overactuated flying systems Weixuan Zhang Maximilian Brunner Lionel Ott Mina Kamel Roland Siegwart Juan I. Nieto 40 12 0 23 Jun 2020
Learning Physical Constraints with Neural Projections Shuqi Yang Xingzhe He Bo Zhu 3DV AI4CE 100 26 0 23 Jun 2020
Sample Factory: Egocentric 3D Control from Pixels at 100000 FPS with Asynchronous Reinforcement Learning Aleksei Petrenko Zhehui Huang T. Kumar Gaurav Sukhatme V. Koltun 103 105 0 21 Jun 2020
Multi-Task Reinforcement Learning based Mobile Manipulation Control for Dynamic Object Tracking and Grasping Cong Wang Qifeng Zhang Qiyan Tian Shuo Li Xiaohui Wang David Lane Y. Pétillot Ziyang Hong Sen Wang 41 7 0 07 Jun 2020
Real-Time Model Calibration with Deep Reinforcement Learning Yuan Tian M. A. Chao Chetan S. Kulkarni K. Goebel Olga Fink AI4CE 72 49 0 07 Jun 2020
Learning Memory-Based Control for Human-Scale Bipedal Locomotion J. Siekmann S. Valluri Jeremy Dao Lorenzo Bermillo Helei Duan Alan Fern J. Hurst AI4CE 65 71 0 03 Jun 2020
Decentralized Deep Reinforcement Learning for a Distributed and Adaptive Locomotion Controller of a Hexapod Robot M. Schilling Kai Konen F. Ohl Timo Korthals 56 20 0 21 May 2020
Learning natural locomotion behaviors for humanoid robots using human knowledge Chuanyu Yang Kai Yuan Shuai Heng Taku Komura Zhibin Li 61 38 0 20 May 2020
Smooth Exploration for Robotic Reinforcement Learning Antonin Raffin Jens Kober F. Stulp 81 58 0 12 May 2020
CARL: Controllable Agent with Reinforcement Learning for Quadruped Locomotion Ying-Sheng Luo Jonathan Hans Soeseno Trista Pei-chun Chen Wei-Chao Chen 81 15 0 07 May 2020
A Kernel Two-sample Test for Dynamical Systems Friedrich Solowjow Dominik Baumann Christian Fiedler Andreas J. Jocham Thomas Seel Sebastian Trimpe 101 11 0 23 Apr 2020
Predictive Whole-Body Control of Humanoid Robot Locomotion Stefano Dafarra 48 3 0 16 Apr 2020
Reinforcement Learning for Safety-Critical Control under Model Uncertainty, using Control Lyapunov Functions and Control Barrier Functions Jason J. Choi F. Castañeda Claire Tomlin Koushil Sreenath 63 185 0 16 Apr 2020
Learning Agile Robotic Locomotion Skills by Imitating Animals Xue Bin Peng Erwin Coumans Tingnan Zhang T. Lee Jie Tan Sergey Levine 154 509 0 02 Apr 2020
Environmental Adaptation of Robot Morphology and Control through Real-world Evolution T. Nygaard Charles Patrick Martin David Howard J. Tørresen K. Glette AI4CE 72 24 0 30 Mar 2020
Rapidly Adaptable Legged Robots via Evolutionary Meta-Learning Xingyou Song Yuxiang Yang K. Choromanski Ken Caluwaerts Wenbo Gao Chelsea Finn Jie Tan 187 80 0 02 Mar 2020
Guided Constrained Policy Optimization for Dynamic Quadrupedal Robot Locomotion Siddhant Gangapurwala Alexander L. Mitchell Ioannis Havoutis 77 55 0 22 Feb 2020
Learning to Walk in the Real World with Minimal Human Effort Sehoon Ha P. Xu Zhenyu Tan Sergey Levine Jie Tan 93 174 0 20 Feb 2020
Learning Functionally Decomposed Hierarchies for Continuous Control Tasks with Path Planning Sammy Christen Lukás Jendele Emre Aksan Otmar Hilliges OffRL 78 25 0 14 Feb 2020
Inner Attention Supported Adaptive Cooperation for Heterogeneous Multi Robots Teaming based on Multi-agent Reinforcement Learning Chao Huang Rui Liu 53 2 0 12 Feb 2020
Proportional integral derivative controller assisted reinforcement learning for path following by autonomous underwater vehicles Simen Theie Havenstrom Camilla Sterud Adil Rasheed Omer San 52 3 0 03 Feb 2020
Sim2Real Predictivity: Does Evaluation in Simulation Predict Real-World Performance? Abhishek Kadian Joanne Truong Aaron Gokaslan Alexander Clegg Erik Wijmans Stefan Lee Manolis Savva Sonia Chernova Dhruv Batra 70 55 0 13 Dec 2019
ORL: Reinforcement Learning Benchmarks for Online Stochastic Optimization Problems Bharathan Balaji Jordan Bell-Masterson Enes Bilgin Andreas C. Damianou Pablo Moreno Garcia Arpit Jain Runfei Luo Alvaro Maggiar Balakrishnan Narayanaswamy Chun Jimmie Ye OffRL 56 32 0 24 Nov 2019
Scalable sim-to-real transfer of soft robot designs Sam Kriegman A. M. Nasab Dylan S. Shah Hannah Steele G. Branin Michael Levin Josh Bongard Rebecca Kramer‐Bottiglio 76 64 0 23 Nov 2019
Real-Time Reinforcement Learning Simon Ramstedt C. Pal AI4CE 96 63 0 11 Nov 2019
$$H_\infty$ Model-free Reinforcement Learning with Robust Stability Guarantee$ $H_\infty$ Model-free Reinforcement Learning with Robust Stability Guarantee Minghao Han Yuan Tian Lixian Zhang Jun Wang Wei Pan 70 26 0 07 Nov 2019
Gym-Ignition: Reproducible Robotic Simulations for Reinforcement Learning Diego Ferigo Silvio Traversaro Giorgio Metta Daniele Pucci 74 26 0 05 Nov 2019
DeepRacer: Educational Autonomous Racing Platform for Experimentation with Sim2Real Reinforcement Learning Bharathan Balaji S. Mallya Sahika Genc Saurabh Gupta Leo Dirac ... Yunzhe Tao Brian Townsend E. Calleja Sunil Muralidhara Dhanasekar Karuppasamy 75 57 0 05 Nov 2019
Combining Benefits from Trajectory Optimization and Deep Reinforcement Learning Guillaume Bellegarda Katie Byl OffRL 41 5 0 21 Oct 2019
Solving Rubik's Cube with a Robot Hand OpenAI Ilge Akkaya Marcin Andrychowicz Maciek Chociej Ma-teusz Litwin ... Peter Welinder Lilian Weng Qiming Yuan Wojciech Zaremba Lei Zhang ODL 121 1,234 0 16 Oct 2019
Deep Value Model Predictive Control Farbod Farshidian David Hoeller Marco Hutter 58 45 0 08 Oct 2019
Learning Fast Adaptation with Meta Strategy Optimization Wenhao Yu Jie Tan Yunfei Bai Erwin Coumans Sehoon Ha 86 94 0 28 Sep 2019
Learning Generalizable Locomotion Skills with Hierarchical Reinforcement Learning Tianyu Li Nathan Lambert Roberto Calandra Franziska Meier Akshara Rai 75 40 0 26 Sep 2019