Policies Modulating Trajectory Generators

7 October 2019

Atil Iscen

Ken Caluwaerts

Jie Tan

Tingnan Zhang

Papers citing "Policies Modulating Trajectory Generators"

41 / 41 papers shown

Title
ES-Parkour: Advanced Robot Parkour with Bio-inspired Event Camera and Spiking Neural Network Qiang Zhang Jiahang Cao Jingkai Sun Yecheng Shao Gang Han Wen Zhao Yijie Guo Renjing Xu 59 0 0 13 Mar 2025
FLD: Fourier Latent Dynamics for Structured Motion Representation and Learning Chenhao Li Elijah Stanger-Jones Steve Heim Sangbae Kim 48 9 0 21 Feb 2024
ManyQuadrupeds: Learning a Single Locomotion Policy for Diverse Quadruped Robots M. Shafiee Guillaume Bellegarda A. Ijspeert 36 26 0 16 Oct 2023
An Open-Loop Baseline for Reinforcement Learning Locomotion Tasks Antonin Raffin Olivier Sigaud Jens Kober Alin Albu-Schäffer João Silvério F. Stulp 40 2 0 09 Oct 2023
RL + Model-based Control: Using On-demand Optimal Control to Learn Versatile Legged Locomotion Dong-oh Kang Jin Cheng Miguel Zamora Fatemeh Zargarbashi Stelian Coros OffRL 29 32 0 29 May 2023
Barkour: Benchmarking Animal-level Agility with Quadruped Robots Ken Caluwaerts Atil Iscen J. Kew Wenhao Yu Tingnan Zhang ... J. Seto Carolina Parada Vikas Sindhwani Vincent Vanhoucke Jie Tan 27 59 0 24 May 2023
Continuous Versatile Jumping Using Learned Action Residuals Yuxiang Yang Xiang Meng Wenhao Yu Tingnan Zhang Jie Tan Byron Boots 42 11 0 17 Apr 2023
Neural Volumetric Memory for Visual Locomotion Control Ruihan Yang Ge Yang Xiaolong Wang 23 53 0 03 Apr 2023
BC-IRL: Learning Generalizable Reward Functions from Demonstrations Andrew Szot Amy Zhang Dhruv Batra Z. Kira Franziska Meier OOD OffRL 33 8 0 28 Mar 2023
Learning Modular Robot Locomotion from Demonstrations Julian Whitman Howie Choset 31 1 0 31 Oct 2022
Learning to Exploit Elastic Actuators for Quadruped Locomotion Antonin Raffin D. Seidel Jens Kober Alin Albu-Schäffer João Silvério F. Stulp 29 5 0 15 Sep 2022
Human Motion Control of Quadrupedal Robots using Deep Reinforcement Learning Sunwoo Kim Maks Sorokin Jehee Lee Sehoon Ha 36 14 0 28 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 31 9 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 40 51 0 31 Mar 2022
Adversarial Motion Priors Make Good Substitutes for Complex Reward Functions Alejandro Escontrela Xue Bin Peng Wenhao Yu Tingnan Zhang Atil Iscen Ken Goldberg Pieter Abbeel 20 112 0 28 Mar 2022
DARA: Dynamics-Aware Reward Augmentation in Offline Reinforcement Learning Jinxin Liu Hongyin Zhang Donglin Wang OffRL 38 33 0 13 Mar 2022
Neural Circuit Architectural Priors for Embodied Control Nikhil X. Bhattasali A. Zador Tatiana A. Engel 88 5 0 13 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 35 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
Linear Policies are Sufficient to Realize Robust Bipedal Walking on Challenging Terrains L. Krishna Guillermo A. Castillo Utkarsh Aashu Mishra Ayonga Hereid Shishir Kolathaya 23 23 0 26 Sep 2021
Reinforcement Learning with Evolutionary Trajectory Generator: A General Approach for Quadrupedal Locomotion Hao-bin Shi Bo Zhou Hongsheng Zeng Fan Wang Yueqiang Dong Jiangyong Li Kang Wang Hao Tian Max Meng 50 50 0 14 Sep 2021
Bayesian Controller Fusion: Leveraging Control Priors in Deep Reinforcement Learning for Robotics Krishan Rana Vibhavari Dasagi Jesse Haviland Ben Talbot Michael Milford Niko Sünderhauf BDL OffRL 27 31 0 21 Jul 2021
RMA: Rapid Motor Adaptation for Legged Robots Ashish Kumar Zipeng Fu Deepak Pathak Jitendra Malik 23 552 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 23 102 0 08 Jul 2021
Discovering Diverse Athletic Jumping Strategies Zhiqi Yin Zeshi Yang M. van de Panne KangKang Yin 44 46 0 02 May 2021
Robust High-speed Running for Quadruped Robots via Deep Reinforcement Learning Guillaume Bellegarda Yiyu Chen Zhuochen Liu Quan Nguyen 34 44 0 11 Mar 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 16 520 0 04 Feb 2021
RLOC: Terrain-Aware Legged Locomotion using Reinforcement Learning and Optimal Control Siddhant Gangapurwala Mathieu Geisert Romeo Orsolino Maurice F. Fallon Ioannis Havoutis 39 114 0 05 Dec 2020
From Pixels to Legs: Hierarchical Learning of Quadruped Locomotion Deepali Jain Atil Iscen Ken Caluwaerts 29 35 0 23 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 17 17 0 30 Oct 2020
Dynamics and Domain Randomized Gait Modulation with Bezier Curves for Sim-to-Real Legged Locomotion Maurice Rahme Ian Abraham Matthew L. Elwin Todd D. Murphey 35 14 0 22 Oct 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 25 4 0 28 Jul 2020
Gait Library Synthesis for Quadruped Robots via Augmented Random Search Sashank Tirumala Aditya Sagi Kartik Paigwar Ashish Joglekar S. Bhatnagar A. Ghosal B. Amrutur Shishir Kolathaya 22 6 0 30 Dec 2019
Data Efficient Reinforcement Learning for Legged Robots Yuxiang Yang Ken Caluwaerts Atil Iscen Tingnan Zhang Jie Tan Vikas Sindhwani 33 139 0 08 Jul 2019
Hierarchical Reinforcement Learning for Quadruped Locomotion Deepali Jain Atil Iscen Ken Caluwaerts 30 53 0 22 May 2019
Provably Robust Blackbox Optimization for Reinforcement Learning K. Choromanski Aldo Pacchiano Jack Parker-Holder Yunhao Tang Deepali Jain Yuxiang Yang Atil Iscen Jasmine Hsu Vikas Sindhwani 13 5 0 07 Mar 2019
Learning to Walk via Deep Reinforcement Learning Tuomas Haarnoja Sehoon Ha Aurick Zhou Jie Tan George Tucker Sergey Levine 54 433 0 26 Dec 2018
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
Neural Architecture Search with Reinforcement Learning Barret Zoph Quoc V. Le 274 5,331 0 05 Nov 2016