Learning Quadrupedal Locomotion over Challenging Terrain

21 October 2020

Marco Hutter

Papers citing "Learning Quadrupedal Locomotion over Challenging Terrain"

50 / 249 papers shown

Title
Behavior evolution-inspired approach to walking gait reinforcement training for quadruped robots Yu Wang Wenchuan Jia Yi Sun Dong He 32 0 0 25 Sep 2024
Whole-body End-Effector Pose Tracking Tifanny Portela Andrei Cramariuc Mayank Mittal Marco Hutter 55 3 0 24 Sep 2024
A Learning Framework for Diverse Legged Robot Locomotion Using Barrier-Based Style Rewards Gijeong Kim Yong-Hoon Lee Hae-Won Park 51 6 0 24 Sep 2024
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
PIP-Loco: A Proprioceptive Infinite Horizon Planning Framework for Quadrupedal Robot Locomotion Aditya Shirwatkar Naman Saxena Kishore Chandra Shishir Kolathaya 46 3 0 14 Sep 2024
AnyBipe: An End-to-End Framework for Training and Deploying Bipedal Robots Guided by Large Language Models Yifei Yao Wentao He Chenyu Gu Jiaheng Du Fuwei Tan Zhen Zhu Junguo Lu OffRL 31 2 0 13 Sep 2024
Learning Multi-Modal Whole-Body Control for Real-World Humanoid Robots Pranay Dugar Aayam Shrestha Fangzhou Yu Bart Jaap van Marum Alan Fern 34 10 0 30 Jul 2024
Automatic Environment Shaping is the Next Frontier in RL Younghyo Park G. Margolis Pulkit Agrawal OffRL 40 3 0 23 Jul 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
Simultaneous System Identification and Model Predictive Control with No Dynamic Regret Hongyu Zhou Vasileios Tzoumas 93 4 0 04 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
SLR: Learning Quadruped Locomotion without Privileged Information Shiyi Chen Zeyu Wan Shiyang Yan Chun Zhang Weiyi Zhang Qiang Li Debing Zhang F. Farrukh 37 4 0 07 Jun 2024
Deep SE(3)-Equivariant Geometric Reasoning for Precise Placement Tasks Ben Eisner Yi Yang Todor Davchev Mel Vecerík Jonathan Scholz David Held 34 10 0 20 Apr 2024
WROOM: An Autonomous Driving Approach for Off-Road Navigation Dvij Kalaria Shreya Sharma Sarthak Bhagat Haoru Xue John M. Dolan 43 1 0 12 Apr 2024
Agile and versatile bipedal robot tracking control through reinforcement learning Jiayi Li Linqi Ye Yi Cheng Houde Liu Bin Liang 36 1 0 12 Apr 2024
Body Design and Gait Generation of Chair-Type Asymmetrical Tripedal Low-rigidity Robot Shintaro Inoue Kento Kawaharazuka K. Okada Masayuki Inaba 29 2 0 09 Apr 2024
Humanoid-Gym: Reinforcement Learning for Humanoid Robot with Zero-Shot Sim2Real Transfer Xinyang Gu Yen-Jen Wang Jianyu Chen 42 35 0 08 Apr 2024
Long-horizon Locomotion and Manipulation on a Quadrupedal Robot with Large Language Models Yutao Ouyang Jinhan Li Yunfei Li Zhongyu Li Chao Yu K. Sreenath Yi Wu 54 15 0 08 Apr 2024
Adaptive Energy Regularization for Autonomous Gait Transition and Energy-Efficient Quadruped Locomotion Boyuan Liang Lingfeng Sun Xinghao Zhu Bike Zhang Ziyin Xiong Yixiao Wang Chenran Li K. Sreenath Masayoshi Tomizuka 79 3 0 29 Mar 2024
Leveraging Symmetry in RL-based Legged Locomotion Control Zhi Su Xiaoyu Huang Daniel Felipe Ordoñez Apraez Yunfei Li Zhongyu Li ... Giulio Turrisi Massimiliano Pontil Claudio Semini Yi Wu K. Sreenath 39 14 0 26 Mar 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
Expert Composer Policy: Scalable Skill Repertoire for Quadruped Robots Guilherme Christmann Ying-Sheng Luo Wei-Chao Chen 32 0 0 18 Mar 2024
MonoOcc: Digging into Monocular Semantic Occupancy Prediction Yupeng Zheng Xiang Li Pengfei Li Yuhang Zheng Bu Jin Chengliang Zhong Xiaoxiao Long Hao Zhao Qichao Zhang 31 25 0 13 Mar 2024
Morphological Symmetries in Robotics Daniel Felipe Ordoñez Apraez Giulio Turrisi Vladimir Kostic Mario Martin Antonio Agudo Francesc Moreno-Noguer Massimiliano Pontil Claudio Semini Carlos Mastalli AI4CE 37 6 0 23 Feb 2024
ACE : Off-Policy Actor-Critic with Causality-Aware Entropy Regularization Tianying Ji Yongyuan Liang Yan Zeng Yu-Juan Luo Guowei Xu Jiawei Guo Ruijie Zheng Furong Huang Gang Hua Huazhe Xu CML 50 11 0 22 Feb 2024
FLD: Fourier Latent Dynamics for Structured Motion Representation and Learning Chenhao Li Elijah Stanger-Jones Steve Heim Sangbae Kim 43 9 0 21 Feb 2024
Distilling Morphology-Conditioned Hypernetworks for Efficient Universal Morphology Control Zheng Xiong Risto Vuorio Jacob Beck Matthieu Zimmer Kun Shao Shimon Whiteson 39 1 0 09 Feb 2024
Agile But Safe: Learning Collision-Free High-Speed Legged Locomotion Tairan He Chong Zhang Wenli Xiao Guanqi He Changliu Liu Guanya Shi 47 59 0 31 Jan 2024
Curriculum-Based Reinforcement Learning for Quadrupedal Jumping: A Reference-free Design Vassil Atanassov Jiatao Ding Jens Kober Ioannis Havoutis Cosimo Della Santina 23 8 0 29 Jan 2024
General-purpose foundation models for increased autonomy in robot-assisted surgery Samuel Schmidgall Ji Woong Kim Alan Kuntz A. Ghazi Axel Krieger MedIm 46 9 0 01 Jan 2024
Adaptive Control Strategy for Quadruped Robots in Actuator Degradation Scenarios Xinyuan Wu Wentao Dong Hang Lai Yong Yu Ying Wen 22 2 0 29 Dec 2023
Actuator-Constrained Reinforcement Learning for High-Speed Quadrupedal Locomotion Young-Ha Shin Tae-Gyu Song Gwanghyeon Ji Hae-Won Park 24 4 0 29 Dec 2023
Hybrid Internal Model: Learning Agile Legged Locomotion with Simulated Robot Response Junfeng Long Zirui Wang Quanyi Li Jiawei Gao Liu Cao Jiangmiao Pang 70 26 0 18 Dec 2023
Multi-Agent Reinforcement Learning for Connected and Automated Vehicles Control: Recent Advancements and Future Prospects Min Hua Dong Chen Xinda Qi Kun Jiang Z. Liu Quan Zhou Hongming Xu 26 10 0 18 Dec 2023
$Improve Robustness of Reinforcement Learning against Observation Perturbations via $l_\infty$ Lipschitz Policy Networks$ Improve Robustness of Reinforcement Learning against Observation Perturbations via $l_\infty$ Lipschitz Policy Networks Buqing Nie Jingtian Ji Yangqing Fu Yue Gao 45 4 0 14 Dec 2023
An Invitation to Deep Reinforcement Learning Bernhard Jaeger Andreas Geiger OffRL OOD 78 5 0 13 Dec 2023
ManyQuadrupeds: Learning a Single Locomotion Policy for Diverse Quadruped Robots M. Shafiee Guillaume Bellegarda A. Ijspeert 31 26 0 16 Oct 2023
Learning Agile Locomotion and Adaptive Behaviors via RL-augmented MPC Lydia Y. Chen Quan Nguyen 23 9 0 13 Oct 2023
Words into Action: Learning Diverse Humanoid Robot Behaviors using Language Guided Iterative Motion Refinement K. N. Kumar Irfan Essa Sehoon Ha 32 6 0 10 Oct 2023
An Open-Loop Baseline for Reinforcement Learning Locomotion Tasks Antonin Raffin Olivier Sigaud Jens Kober Alin Albu-Schäffer João Silvério F. Stulp 34 2 0 09 Oct 2023
Resilient Legged Local Navigation: Learning to Traverse with Compromised Perception End-to-End Jin Jin Chong Zhang Jonas Frey Nikita Rudin Matías Mattamala Cesar Cadena Marco Hutter 33 13 0 05 Oct 2023
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
Learning Risk-Aware Quadrupedal Locomotion using Distributional Reinforcement Learning Lukas Schneider Jonas Frey Takahiro Miki Marco Hutter 30 9 0 25 Sep 2023
HEROES: Unreal Engine-based Human and Emergency Robot Operation Education System A. Chaudhary Kshitij Tiwari Aniket Bera 15 1 0 25 Sep 2023
H2O+: An Improved Framework for Hybrid Offline-and-Online RL with Dynamics Gaps Haoyi Niu Tianying Ji Bingqi Liu Haocheng Zhao Xiangyu Zhu Jianying Zheng Pengfei Huang Guyue Zhou Jianming Hu Xianyuan Zhan OffRL OnRL AI4CE 29 6 0 22 Sep 2023
ARTEMIS: AI-driven Robotic Triage Labeling and Emergency Medical Information System Revanth Krishna Senthilkumaran Mridu Prashanth Hrishikesh Viswanath Sathvika Kotha Kshitij Tiwari Aniket Bera 25 2 0 16 Sep 2023
UnifiedGesture: A Unified Gesture Synthesis Model for Multiple Skeletons Sicheng Yang Zehao Wang Zhiyong Wu Minglei Li Zhensong Zhang ... Lei Hao Songcen Xu Xiaofei Wu Changpeng Yang Zonghong Dai DiffM 49 14 0 13 Sep 2023
Efficient Reinforcement Learning for Jumping Monopods Riccardo Bussola Michele Focchi Andrea Del Prete Daniele Fontanelli Luigi Palopoli 42 2 0 13 Sep 2023
Pre- and post-contact policy decomposition for non-prehensile manipulation with zero-shot sim-to-real transfer Minchan Kim Junhyek Han Jaehyung Kim Beomjoon Kim 27 17 0 06 Sep 2023