Dynamics Randomization Revisited:A Case Study for Quadrupedal Locomotion

4 November 2020

Papers citing "Dynamics Randomization Revisited:A Case Study for Quadrupedal Locomotion"

50 / 56 papers shown

Title
Training Directional Locomotion for Quadrupedal Low-Cost Robotic Systems via Deep Reinforcement Learning Peter Böhm Archie C. Chapman Pauline Pounds 44 0 0 14 Mar 2025
Learning Robotic Policy with Imagined Transition: Mitigating the Trade-off between Robustness and Optimality Wei Xiao Shangke Lyu Zhefei Gong Renjie Wang Donglin Wang 46 1 0 13 Mar 2025
Bridging the Sim-to-Real Gap for Athletic Loco-Manipulation Nolan Fey G. Margolis Martin Peticco Pulkit Agrawal 52 3 0 15 Feb 2025
Variable Stiffness for Robust Locomotion through Reinforcement Learning Dario Spoljaric Yashuai Yan Dongheui Lee 59 0 0 13 Feb 2025
LoopSR: Looping Sim-and-Real for Lifelong Policy Adaptation of Legged Robots Peilin Wu Weiji Xie Jiahang Cao Hang Lai Weinan Zhang 26 1 0 26 Sep 2024
World Model-based Perception for Visual Legged Locomotion Hang Lai Jiahang Cao Jiafeng Xu Hongtao Wu Yunfeng Lin Tao Kong Yong Yu Weinan Zhang VGen 29 2 0 25 Sep 2024
Commonsense Reasoning for Legged Robot Adaptation with Vision-Language Models Annie S. Chen Alec M. Lessing Andy Tang Govind Chada Laura Smith Sergey Levine Chelsea Finn LM&Ro LRM 33 9 0 02 Jul 2024
DrEureka: Language Model Guided Sim-To-Real Transfer Yecheng Jason Ma William Liang Hung-Ju Wang Sam Wang Yuke Zhu Linxi Fan Osbert Bastani Dinesh Jayaraman 77 43 0 04 Jun 2024
Learning-based legged locomotion; state of the art and future perspectives Sehoon Ha Joonho Lee M. van de Panne Zhaoming Xie Wenhao Yu Majid Khadiv 47 16 0 03 Jun 2024
Data-Efficient Approach to Humanoid Control via Fine-Tuning a Pre-Trained GPT on Action Data Siddharth Padmanabhan Kazuki Miyazawa Takato Horii Takayuki Nagai 28 0 0 29 May 2024
Rethinking Robustness Assessment: Adversarial Attacks on Learning-based Quadrupedal Locomotion Controllers Fan Shi Chong Zhang Takahiro Miki Joonho Lee Marco Hutter Stelian Coros AAML 45 12 0 21 May 2024
Impedance Matching: Enabling an RL-Based Running Jump in a Quadruped Robot Neil Guan Shangqun Yu Shifan Zhu Donghyun Kim 31 0 0 23 Apr 2024
CaT: Constraints as Terminations for Legged Locomotion Reinforcement Learning Elliot Chane-Sane Pierre-Alexandre Leziart T. Flayols O. Stasse Philippe Souères Nicolas Mansard 36 8 0 27 Mar 2024
An Efficient Model-Based Approach on Learning Agile Motor Skills without Reinforcement Hao-bin Shi Tingguang Li Qing Zhu Jiapeng Sheng Lei Han Max Q.-H. Meng 29 1 0 04 Mar 2024
Learning Emergent Gaits with Decentralized Phase Oscillators: on the role of Observations, Rewards, and Feedback Jenny Zhang Steve Heim Seungmin Jeon Sangbae Kim 23 2 0 13 Feb 2024
Reinforcement Learning for Versatile, Dynamic, and Robust Bipedal Locomotion Control Zhongyu Li Xue Bin Peng Pieter Abbeel Sergey Levine Glen Berseth K. Sreenath 25 76 0 30 Jan 2024
Hybrid Internal Model: Learning Agile Legged Locomotion with Simulated Robot Response Junfeng Long Zirui Wang Quanyi Li Jiawei Gao Liu Cao Jiangmiao Pang 63 26 0 18 Dec 2023
Learning Agile Locomotion on Risky Terrains Chong Zhang Nikita Rudin David Hoeller Marco Hutter 14 20 0 17 Nov 2023
Adapt On-the-Go: Behavior Modulation for Single-Life Robot Deployment Annie S. Chen Govind Chada Laura M. Smith Archit Sharma Zipeng Fu Sergey Levine Chelsea Finn 46 7 0 02 Nov 2023
BayRnTune: Adaptive Bayesian Domain Randomization via Strategic Fine-tuning Tianle Huang Nitish Sontakke K. N. Kumar Irfan Essa Stefanos Nikolaidis Dennis W. Hong Sehoon Ha 27 2 0 16 Oct 2023
Pay Attention to How You Drive: Safe and Adaptive Model-Based Reinforcement Learning for Off-Road Driving Sean J. Wang Honghao Zhu Aaron M. Johnson 24 6 0 12 Oct 2023
Evaluation of Constrained Reinforcement Learning Algorithms for Legged Locomotion Joonho Lee Lukas Schroth Victor Klemm Marko Bjelonic Alexander Reske Marco Hutter 25 14 0 27 Sep 2023
Learning Risk-Aware Quadrupedal Locomotion using Distributional Reinforcement Learning Lukas Schneider Jonas Frey Takahiro Miki Marco Hutter 28 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
Two-Stage Learning of Highly Dynamic Motions with Rigid and Articulated Soft Quadrupeds Francecso Vezzi Jiatao Ding Antonin Raffin Jens Kober Cosimo Della Santina 18 7 0 18 Sep 2023
Robot Parkour Learning Ziwen Zhuang Zipeng Fu Jianren Wang Christopher G Atkeson Soeren Schwertfeger Chelsea Finn Hang Zhao 45 142 0 11 Sep 2023
Identifying Important Sensory Feedback for Learning Locomotion Skills Wanming Yu Chuanyu Yang C. McGreavy Eleftherios Triantafyllidis Guillaume Bellegarda M. Shafiee A. Ijspeert Zhibin Li 19 16 0 29 Jun 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 58 0 24 May 2023
More Than an Arm: Using a Manipulator as a Tail for Enhanced Stability in Legged Locomotion Huang Huang Antonio Loquercio Ashish Kumar Neerja Thakkar Ken Goldberg Jitendra Malik 28 2 0 02 May 2023
IndoorSim-to-OutdoorReal: Learning to Navigate Outdoors without any Outdoor Experience Joanne Truong April Zitkovich Sonia Chernova Dhruv Batra Tingnan Zhang Jie Tan Wenhao Yu LM&Ro 18 13 0 01 May 2023
Learning Robust, Agile, Natural Legged Locomotion Skills in the Wild Yikai Wang Zheyuan Jiang Jianyu Chen 14 8 0 21 Apr 2023
DribbleBot: Dynamic Legged Manipulation in the Wild Yandong Ji G. Margolis Pulkit Agrawal 26 53 0 03 Apr 2023
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
Legged Locomotion in Challenging Terrains using Egocentric Vision Ananye Agarwal Ashish Kumar Jitendra Malik Deepak Pathak 28 204 0 14 Nov 2022
A Real2Sim2Real Method for Robust Object Grasping with Neural Surface Reconstruction Luobin Wang Runlin Guo Q. Vuong Yuzhe Qin Hao Su Henrik I. Christensen 3DH 3DPC 25 17 0 06 Oct 2022
OPT-Mimic: Imitation of Optimized Trajectories for Dynamic Quadruped Behaviors Yuni Fuchioka Zhaoming Xie M. van de Panne 30 41 0 03 Oct 2022
Learning Low-Frequency Motion Control for Robust and Dynamic Robot Locomotion Siddhant Gangapurwala Luigi Campanaro Ioannis Havoutis 32 11 0 29 Sep 2022
Learning and Deploying Robust Locomotion Policies with Minimal Dynamics Randomization Luigi Campanaro Siddhant Gangapurwala W. Merkt Ioannis Havoutis 52 13 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 27 3 0 24 Sep 2022
Quantification before Selection: Active Dynamics Preference for Robust Reinforcement Learning Kang Xu Yan Ma Wei Li 43 0 0 23 Sep 2022
Rapid Locomotion via Reinforcement Learning G. Margolis Ge Yang Kartik Paigwar Tao Chen Pulkit Agrawal 33 226 0 05 May 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 32 51 0 31 Mar 2022
Learning Torque Control for Quadrupedal Locomotion Shuxiao Chen Bike Zhang M. Mueller Akshara Rai K. Sreenath 21 37 0 10 Mar 2022
Coupling Vision and Proprioception for Navigation of Legged Robots Zipeng Fu Ashish Kumar Ananye Agarwal Haozhi Qi Jitendra Malik Deepak Pathak 21 72 0 03 Dec 2021
Robot Learning from Randomized Simulations: A Review Fabio Muratore Fabio Ramos Greg Turk Wenhao Yu Michael Gienger Jan Peters AI4CE 12 79 0 01 Nov 2021
Continuous-Time Fitted Value Iteration for Robust Policies M. Lutter Boris Belousov Shie Mannor D. Fox Animesh Garg Jan Peters 10 9 0 05 Oct 2021
Vision-Guided Quadrupedal Locomotion in the Wild with Multi-Modal Delay Randomization C. Imai Minghao Zhang Yuchen Zhang Marcin Kierebinski Ruihan Yang Yuzhe Qin Xiaolong Wang 52 32 0 29 Sep 2021
PM-FSM: Policies Modulating Finite State Machine for Robust Quadrupedal Locomotion Ren Liu Nitish Sontakke Sehoon Ha 31 2 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 Q.-H. Meng 45 50 0 14 Sep 2021
Model-free Reinforcement Learning for Robust Locomotion using Demonstrations from Trajectory Optimization Miroslav Bogdanovic Majid Khadiv Ludovic Righetti 114 30 0 14 Jul 2021