DeepGait: Planning and Control of Quadrupedal Gaits using Deep Reinforcement Learning

18 September 2019

Marco Hutter

Papers citing "DeepGait: Planning and Control of Quadrupedal Gaits using Deep Reinforcement Learning"

40 / 40 papers shown

Title
SoloParkour: Constrained Reinforcement Learning for Visual Locomotion from Privileged Experience Elliot Chane-Sane Joseph Amigo Thomas Flayols Ludovic Righetti Nicolas Mansard 57 6 0 20 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 42 0 0 14 Aug 2024
RoboMorph: Evolving Robot Morphology using Large Language Models Kevin Qiu Krzysztof Ciebiera Krzysztof Ciebiera Marek Cygan Marek Cygan Łukasz Kuciński LM&Ro 49 0 0 11 Jul 2024
Text2Robot: Evolutionary Robot Design from Text Descriptions Ryan P. Ringel Zachary S. Charlick Jiaxun Liu Boxi Xia Boyuan Chen 58 2 0 28 Jun 2024
MQE: Unleashing the Power of Interaction with Multi-agent Quadruped Environment Ziyan Xiong Bo Chen Shiyu Huang Weijuan Tu Zhaofeng He Yang Gao 40 4 0 24 Mar 2024
DTC: Deep Tracking Control Fabian Jenelten Junzhe He Farbod Farshidian Marco Hutter 30 73 0 27 Sep 2023
Extreme Parkour with Legged Robots Xuxin Cheng Kexin Shi Ananye Agarwal Deepak Pathak 28 150 0 25 Sep 2023
SafeSteps: Learning Safer Footstep Planning Policies for Legged Robots via Model-Based Priors Shafeef Omar Lorenzo Amatucci Victor Barasuol Giulio Turrisi Claudio Semini 25 3 0 24 Jul 2023
Quadrupedal Footstep Planning using Learned Motion Models of a Black-Box Controller Ilyass Taouil Giulio Turrisi Daniel Schleich Victor Barasuol Claudio Semini Sven Behnke 32 1 0 23 Jul 2023
A Data-Driven Approach to Geometric Modeling of Systems with Low-Bandwidth Actuator Dynamics Siming Deng Junning Liu Bibekananda Datta Aishwarya Pantula D. Gracias Thao D. Nguyen Brian A. Bittner Noah J. Cowan AI4CE 13 1 0 03 Jul 2023
Legged Locomotion in Challenging Terrains using Egocentric Vision Ananye Agarwal Ashish Kumar Jitendra Malik Deepak Pathak 34 206 0 14 Nov 2022
Learning Visual Locomotion with Cross-Modal Supervision Antonio Loquercio Ashish Kumar Jitendra Malik SSL 30 43 0 07 Nov 2022
Advanced Skills by Learning Locomotion and Local Navigation End-to-End Nikita Rudin David Hoeller Marko Bjelonic Marco Hutter 80 71 0 26 Sep 2022
Generating a Terrain-Robustness Benchmark for Legged Locomotion: A Prototype via Terrain Authoring and Active Learning Chong Zhang Lizhi Yang 30 3 0 16 Aug 2022
A Closed-Loop Perception, Decision-Making and Reasoning Mechanism for Human-Like Navigation Wenqi Zhang Kai Zhao Peng Li Xiao Zhu Yongliang Shen Yanna Ma Yingfeng Chen Weiming Lu LRM 29 8 0 25 Jul 2022
Dynamic Bipedal Maneuvers through Sim-to-Real Reinforcement Learning Fangzhou Yu Ryan Batke Jeremy Dao J. Hurst Kevin R. Green Alan Fern 27 10 0 16 Jul 2022
Learning to Brachiate via Simplified Model Imitation Daniele Reda Hung Yu Ling M. van de Panne 32 11 0 08 May 2022
Learning Dynamic Bipedal Walking Across Stepping Stones Helei Duan A. Malik M. S. Gadde Jeremy Dao Alan Fern J. Hurst 26 10 0 03 May 2022
Continuous Jumping for Legged Robots on Stepping Stones via Trajectory Optimization and Model Predictive Control Chuong H. Nguyen Lingfan Bao Quan Nguyen 18 31 0 03 Apr 2022
Foothold Evaluation Criterion for Dynamic Transition Feasibility for Quadruped Robots Lucas Clemente Octavio Villarreal Angelo Bratta Michele Focchi Victor Barasuol G. G. Muscolo Claudio Semini 15 6 0 08 Mar 2022
Quadruped Capturability and Push Recovery via a Switched-Systems Characterization of Dynamic Balance Hua Chen Zejun Hong Shunpeng Yang Patrick M. Wensing Wei Zhang 27 16 0 28 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 30 69 0 11 Jan 2022
Learning to Jump from Pixels G. Margolis Tao Chen Kartik Paigwar Xiang Fu Donghyun Kim Sangbae Kim Pulkit Agrawal 57 82 0 28 Oct 2021
Solving Challenging Control Problems Using Two-Staged Deep Reinforcement Learning Nitish Sontakke Sehoon Ha 30 1 0 27 Sep 2021
PM-FSM: Policies Modulating Finite State Machine for Robust Quadrupedal Locomotion Ren Liu Nitish Sontakke Sehoon Ha 37 2 0 26 Sep 2021
Learning to Walk in Minutes Using Massively Parallel Deep Reinforcement Learning Nikita Rudin David Hoeller Philipp Reist Marco Hutter 115 546 0 24 Sep 2021
Convex strategies for trajectory optimisation: application to the Polytope Traversal Problem Steve Tonneau 17 1 0 16 Sep 2021
Learning Vision-Guided Dynamic Locomotion Over Challenging Terrains Zhaocheng Liu Fernando Acero Zhibin Li 42 2 0 09 Sep 2021
Cat-like Jumping and Landing of Legged Robots in Low-gravity Using Deep Reinforcement Learning Nikita Rudin H. Kolvenbach Vassilios Tsounis Marco Hutter 33 84 0 17 Jun 2021
DeepWalk: Omnidirectional Bipedal Gait by Deep Reinforcement Learning Diego Rodriguez Sven Behnke 30 47 0 01 Jun 2021
GLiDE: Generalizable Quadrupedal Locomotion in Diverse Environments with a Centroidal Model Zhaoming Xie Xingye Da Buck Babich Animesh Garg M. van de Panne 24 66 0 20 Apr 2021
Escaping from Zero Gradient: Revisiting Action-Constrained Reinforcement Learning via Frank-Wolfe Policy Optimization Jyun-Li Lin Wei-Ting Hung Shangtong Yang Ping-Chun Hsieh Xi Liu 30 14 0 22 Feb 2021
RLOC: Terrain-Aware Legged Locomotion using Reinforcement Learning and Optimal Control Siddhant Gangapurwala Mathieu Geisert Romeo Orsolino Maurice F. Fallon Ioannis Havoutis 37 114 0 05 Dec 2020
Learning Navigation Skills for Legged Robots with Learned Robot Embeddings Joanne Truong Denis Yarats Tianyu Li Franziska Meier Sonia Chernova Dhruv Batra Akshara Rai 23 20 0 24 Nov 2020
Zero-Shot Terrain Generalization for Visual Locomotion Policies Alejandro Escontrela George Yu P. Xu Atil Iscen Jie Tan 11 17 0 11 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 15 17 0 30 Oct 2020
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 12 43 0 21 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 19 57 0 21 Sep 2020
Learning to Walk in the Real World with Minimal Human Effort Sehoon Ha P. Xu Zhenyu Tan Sergey Levine Jie Tan 27 169 0 20 Feb 2020
Emergence of Locomotion Behaviours in Rich Environments N. Heess TB Dhruva S. Sriram Jay Lemmon J. Merel ... Tom Erez Ziyun Wang S. M. Ali Eslami Martin Riedmiller David Silver 143 928 0 07 Jul 2017