Learning Quadrupedal Locomotion over Challenging Terrain

21 October 2020

Marco Hutter

Papers citing "Learning Quadrupedal Locomotion over Challenging Terrain"

50 / 249 papers shown

Title
Learning Whole-body Manipulation for Quadrupedal Robot S. Jeon Moonkyu Jung Suyoung Choi Beomjoon Kim Jemin Hwangbo 20 28 0 31 Aug 2023
Large Language Models and Foundation Models in Smart Agriculture: Basics, Opportunities, and Challenges Jiajia Li Mingle Xu Lirong Xiang Dong Chen Weichao Zhuang Xunyuan Yin Zhao Li 39 3 0 13 Aug 2023
Scientific Exploration of Challenging Planetary Analog Environments with a Team of Legged Robots Philip Arm Gabriel Waibel Jan Preisig Turcan Tuna Ruyi Zhou ... G. Ligeza Takahiro Miki F. Kehl H. Kolvenbach Marco Hutter 33 62 0 19 Jul 2023
Multi-Stage Cable Routing through Hierarchical Imitation Learning Jianlan Luo Charles Xu Xinyang Geng Gilbert Feng Kuan Fang L. Tan S. Schaal Sergey Levine 38 52 0 18 Jul 2023
Combining model-predictive control and predictive reinforcement learning for stable quadrupedal robot locomotion Vyacheslav Kovalev Anna Shkromada H. Ouerdane Pavel Osinenko 26 2 0 15 Jul 2023
Traversability Analysis for Autonomous Driving in Complex Environment: A LiDAR-based Terrain Modeling Approach Hanzhang Xue Hao Fu Liang Xiao Yiming Fan Dawei Zhao Bin Dai 32 21 0 05 Jul 2023
Actor-Critic Model Predictive Control Angel Romero Yunlong Song Davide Scaramuzza 47 35 0 16 Jun 2023
Simplified Temporal Consistency Reinforcement Learning Yi Zhao Wenshuai Zhao Rinu Boney Arno Solin Joni Pajarinen OffRL 30 13 0 15 Jun 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
On the Value of Myopic Behavior in Policy Reuse Kang Xu Chenjia Bai Shuang Qiu Haoran He Bin Zhao Zhen Wang Wei Li Xuelong Li 36 1 0 28 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
From Data-Fitting to Discovery: Interpreting the Neural Dynamics of Motor Control through Reinforcement Learning Eugene R. Rush Kaushik Jayaram J. Humbert 21 1 0 18 May 2023
Learning Agile Soccer Skills for a Bipedal Robot with Deep Reinforcement Learning Tuomas Haarnoja Ben Moran Guy Lever Sandy H. Huang Dhruva Tirumala ... Andrea Huber N. Hurley F. Nori R. Hadsell N. Heess 50 143 0 26 Apr 2023
Neural Volumetric Memory for Visual Locomotion Control Ruihan Yang Ge Yang Xiaolong Wang 23 53 0 03 Apr 2023
DribbleBot: Dynamic Legged Manipulation in the Wild Yandong Ji G. Margolis Pulkit Agrawal 34 54 0 03 Apr 2023
Two-layer adaptive trajectory tracking controller for quadruped robots on slippery terrains Despina Ekaterini Argiropoulos Dimitrios Papageorgiou Michael Maravgakis Drosakis Drosakis P. Trahanias 24 2 0 03 Apr 2023
Managing power grids through topology actions: A comparative study between advanced rule-based and reinforcement learning agents Malte Lehna J. Viebahn Christoph Scholz Antoine Marot Sven Tomforde 29 19 0 03 Apr 2023
Visual-Policy Learning through Multi-Camera View to Single-Camera View Knowledge Distillation for Robot Manipulation Tasks C. Acar Kuluhan Binici Alp Tekirdag Yan Wu 37 1 0 13 Mar 2023
Learning Bipedal Walking for Humanoids with Current Feedback R. P. Singh Zhaoming Xie P. Gergondet F. Kanehiro 26 29 0 07 Mar 2023
Real-World Humanoid Locomotion with Reinforcement Learning Ilija Radosavovic Tete Xiao Bike Zhang Trevor Darrell Jitendra Malik K. Sreenath 32 124 0 06 Mar 2023
Time-attenuating Twin Delayed DDPG Reinforcement Learning for Trajectory Tracking Control of Quadrotors Boyuan Deng Jian Sun Zhuo Li G. Wang 35 0 0 13 Feb 2023
Variational Integrators and Graph-Based Solvers for Multibody Dynamics in Maximal Coordinates Jan Brüdigam Stefan Sosnowski Zachary Manchester Sandra Hirche AI4CE 18 3 0 12 Feb 2023
AdaptSim: Task-Driven Simulation Adaptation for Sim-to-Real Transfer Allen Z. Ren Hongkai Dai Benjamin Burchfiel Anirudha Majumdar 27 14 0 09 Feb 2023
NeuronsGym: A Hybrid Framework and Benchmark for Robot Tasks with Sim2Real Policy Learning Haoran Li Shasha Liu Mingjun Ma Guangzheng Hu Yaran Chen Dong Zhao 27 3 0 07 Feb 2023
DITTO: Offline Imitation Learning with World Models Branton DeMoss Paul Duckworth Nick Hawes Ingmar Posner Ingmar Posner OffRL 21 18 0 06 Feb 2023
Multi-embodiment Legged Robot Control as a Sequence Modeling Problem Chenyi Yu Weinan Zhang H. Lai Zheng Tian L. Kneip Jun Wang 31 15 0 18 Dec 2022
Sim-to-Real Transfer for Quadrupedal Locomotion via Terrain Transformer Hang Lai Weinan Zhang Xialin He Chen Yu Zheng Tian Yong Yu Jun Wang 24 20 0 15 Dec 2022
Single-Level Differentiable Contact Simulation Simon Le Cleac'h Mac Schwager Zachary Manchester Vikas Sindhwani Peter R. Florence Sumeet Singh 31 5 0 13 Dec 2022
Learning Agile Paths from Optimal Control Alex Beaudin Hsiu-Chin Lin 16 0 0 30 Nov 2022
User-Conditioned Neural Control Policies for Mobile Robotics L. Bauersfeld Elia Kaufmann Davide Scaramuzza 29 6 0 22 Nov 2022
Practice Makes Perfect: an iterative approach to achieve precise tracking for legged robots Jingli Cheng Yasser G. Alqaham A. Sanyal Zhenyu Gan 30 4 0 22 Nov 2022
Optimization-Based Control for Dynamic Legged Robots Patrick M. Wensing Michael Posa Yue Hu Adrien Escande Nicolas Mansard Andrea Del Prete 30 141 0 21 Nov 2022
Legged Locomotion in Challenging Terrains using Egocentric Vision Ananye Agarwal Ashish Kumar Jitendra Malik Deepak Pathak 34 206 0 14 Nov 2022
Distributed Data-Driven Predictive Control for Multi-Agent Collaborative Legged Locomotion Randall T. Fawcett Leila Amanzadeh Jeeseop Kim Aaron D. Ames K. Hamed 25 16 0 13 Nov 2022
Learning Visual Locomotion with Cross-Modal Supervision Antonio Loquercio Ashish Kumar Jitendra Malik SSL 30 43 0 07 Nov 2022
Learning Modular Robot Locomotion from Demonstrations Julian Whitman Howie Choset 31 1 0 31 Oct 2022
DeXtreme: Transfer of Agile In-hand Manipulation from Simulation to Reality Ankur Handa Arthur Allshire Viktor Makoviychuk Aleksei Petrenko Ritvik Singh ... Balakumar Sundaralingam Yashraj S. Narang Jean-Francois Lafleche Dieter Fox Gavriel State 40 150 0 25 Oct 2022
Weighted Maximum Likelihood for Controller Tuning Angel Romero Shreedhar Govil Gonca Yilmaz Yunlong Song Davide Scaramuzza 41 14 0 20 Oct 2022
Robotic Table Wiping via Reinforcement Learning and Whole-body Trajectory Optimization T. Lew Sumeet Singh M. Prats Jeffrey Bingham Jonathan Weisz ... Fei Xia Peng Xu Tingnan Zhang Jie Tan Montserrat Gonzalez 35 15 0 19 Oct 2022
Deep Whole-Body Control: Learning a Unified Policy for Manipulation and Locomotion Zipeng Fu Xuxin Cheng Deepak Pathak 19 144 0 18 Oct 2022
Meta Reinforcement Learning for Optimal Design of Legged Robots Álvaro Belmonte-Baeza Joonho Lee Giorgio Valsecchi Marco Hutter 43 17 0 06 Oct 2022
Learning an Efficient Terrain Representation for Haptic Localization of a Legged Robot Damian Sójka Michał R. Nowicki Piotr Skrzypczyñski 34 4 0 29 Sep 2022
Learning Low-Frequency Motion Control for Robust and Dynamic Robot Locomotion Siddhant Gangapurwala Luigi Campanaro Ioannis Havoutis 32 12 0 29 Sep 2022
Backward Reachability Analysis of Neural Feedback Loops: Techniques for Linear and Nonlinear Systems Nicholas Rober Sydney M. Katz Chelsea Sidrane Esen Yel Michael Everett Mykel J. Kochenderfer Jonathan P. How 35 26 0 28 Sep 2022
MultiRoboLearn: An open-source Framework for Multi-robot Deep Reinforcement Learning Junfeng Chen Fuqin Deng Yuan Gao Junjie Hu Xiyue Guo Guanqi Liang Tin Lun Lam 37 7 0 28 Sep 2022
Safe Balancing Control of a Soft Legged Robot R. Jing M. L. Anderson Miguel Ianus-Valdivia Amsal Akber Ali Carmel Majidi Andrew P. Sabelhaus 11 3 0 27 Sep 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
Open-Ended Diverse Solution Discovery with Regulated Behavior Patterns for Cross-Domain Adaptation Kang Xu Yan Ma Bingsheng Wei Wei Li 29 3 0 24 Sep 2022
Recent Approaches for Perceptive Legged Locomotion Hersh Sanghvi 45 0 0 21 Sep 2022
Learning to Exploit Elastic Actuators for Quadruped Locomotion Antonin Raffin D. Seidel Jens Kober Alin Albu-Schäffer João Silvério F. Stulp 24 5 0 15 Sep 2022