RLOC: Terrain-Aware Legged Locomotion using Reinforcement Learning and Optimal Control

5 December 2020

Siddhant Gangapurwala

Papers citing "RLOC: Terrain-Aware Legged Locomotion using Reinforcement Learning and Optimal Control"

50 / 70 papers shown

Title
GenTe: Generative Real-world Terrains for General Legged Robot Locomotion Control Hanwen Wan Mengkang Li Donghao Wu Yebin Zhong Yixuan Deng Zhenglong Sun Xiaoqiang Ji 30 0 0 14 Apr 2025
Benchmarking Model Predictive Control and Reinforcement Learning Based Control for Legged Robot Locomotion in MuJoCo Simulation Shivayogi Akki Tan Chen 43 0 0 28 Jan 2025
Learning to Walk from Three Minutes of Real-World Data with Semi-structured Dynamics Models Jacob Levy T. Westenbroek David Fridovich-Keil 26 7 0 11 Oct 2024
Constrained Skill Discovery: Quadruped Locomotion with Unsupervised Reinforcement Learning Vassil Atanassov Wanming Yu Alexander L. Mitchell M. N. Finean Ioannis Havoutis SSL 27 1 0 10 Oct 2024
Playful DoggyBot: Learning Agile and Precise Quadrupedal Locomotion Xin Duan Ziwen Zhuang Hang Zhao Soeren Schwertfeger 47 2 0 30 Sep 2024
Obstacle-Aware Quadrupedal Locomotion With Resilient Multi-Modal Reinforcement Learning I Made Aswin Nahrendra Byeongho Yu Minho Oh Dongkyu Lee Seunghyun Lee Hyeonwoo Lee Hyungtae Lim Hyun Myung 131 2 0 29 Sep 2024
Walking with Terrain Reconstruction: Learning to Traverse Risky Sparse Footholds Ruiqi Yu Qianshi Wang Yizhen Wang Zhicheng Wang Jun Wu Qiuguo Zhu 27 2 0 24 Sep 2024
Loopy Movements: Emergence of Rotation in a Multicellular Robot Trevor Smith Yu Gu 21 0 0 23 Sep 2024
Residual-MPPI: Online Policy Customization for Continuous Control Pengcheng Wang Chenran Li Catherine Weaver Kenta Kawamoto M. Tomizuka Chen Tang Wei Zhan OffRL 29 3 0 01 Jul 2024
QuadrupedGPT: Towards a Versatile Quadruped Agent in Open-ended Worlds Ye Wang Yuting Mei Sipeng Zheng Qin Jin LRM 32 2 0 24 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 45 16 0 03 Jun 2024
Gaitor: Learning a Unified Representation Across Gaits for Real-World Quadruped Locomotion Alexander L. Mitchell W. Merkt Aristotelis Papatheodorou Ioannis Havoutis Ingmar Posner 24 4 0 29 May 2024
Learning Generic and Dynamic Locomotion of Humanoids Across Discrete Terrains Shangqun Yu Nisal Perera Daniel Marew Donghyun Kim 32 2 0 27 May 2024
Learning Robust Autonomous Navigation and Locomotion for Wheeled-Legged Robots Joonho Lee Marko Bjelonic Alexander Reske Lorenz Wellhausen Takahiro Miki Marco Hutter 66 39 0 03 May 2024
Deep Reinforcement Learning for Bipedal Locomotion: A Brief Survey Lingfan Bao Josephine N. Humphreys Tianhu Peng Chengxu Zhou 65 5 0 25 Apr 2024
Agile and versatile bipedal robot tracking control through reinforcement learning Jiayi Li Linqi Ye Yi Cheng Houde Liu Bin Liang 30 1 0 12 Apr 2024
OPEN TEACH: A Versatile Teleoperation System for Robotic Manipulation Aadhithya Iyer Zhuoran Peng Yinlong Dai Irmak Güzey Siddhant Haldar Soumith Chintala Lerrel Pinto 31 48 0 12 Mar 2024
Learning to walk in confined spaces using 3D representation Takahiro Miki Joonho Lee Lorenz Wellhausen Marco Hutter 40 18 0 29 Feb 2024
Agile But Safe: Learning Collision-Free High-Speed Legged Locomotion Tairan He Chong Zhang Wenli Xiao Guanqi He Changliu Liu Guanya Shi 42 58 0 31 Jan 2024
Learning Agile Locomotion on Risky Terrains Chong Zhang N. Rudin David Hoeller Marco Hutter 14 20 0 17 Nov 2023
Terrain-adaptive Central Pattern Generators with Reinforcement Learning for Hexapod Locomotion Qiyue Yang Yue Gao Shaoyuan Li 23 2 0 11 Oct 2023
LANCAR: Leveraging Language for Context-Aware Robot Locomotion in Unstructured Environments Chak Lam Shek Xiyang Wu Wesley A. Suttle Carl E. Busart Erin Zaroukian Dinesh Manocha Pratap Tokekar Amrit Singh Bedi LLMAG 46 8 0 30 Sep 2023
DTC: Deep Tracking Control Fabian Jenelten Junzhe He Farbod Farshidian Marco Hutter 16 73 0 27 Sep 2023
Learning Vision-Based Bipedal Locomotion for Challenging Terrain Helei Duan Bikram Pandit M. S. Gadde Bart Jaap van Marum Jeremy Dao Chanho Kim Alan Fern 19 32 0 26 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
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 24 1 0 23 Jul 2023
ProNav: Proprioceptive Traversability Estimation for Legged Robot Navigation in Outdoor Environments Mohamed Bashir Elnoor A. Sathyamoorthy K. Weerakoon Dinesh Manocha 30 10 0 19 Jul 2023
ANYmal Parkour: Learning Agile Navigation for Quadrupedal Robots David Hoeller N. Rudin Dhionis V. Sako Marco Hutter 35 129 0 26 Jun 2023
CAJun: Continuous Adaptive Jumping using a Learned Centroidal Controller Yuxiang Yang Guanya Shi Xiang Meng Wenhao Yu Tingnan Zhang Jie Tan Byron Boots 27 26 0 16 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 27 32 0 29 May 2023
Roll-Drop: accounting for observation noise with a single parameter Luigi Campanaro D. Martini Siddhant Gangapurwala W. Merkt Ioannis Havoutis SyDa 21 3 0 25 Apr 2023
Torque-based Deep Reinforcement Learning for Task-and-Robot Agnostic Learning on Bipedal Robots Using Sim-to-Real Transfer Donghyeon Kim Glen Berseth M. Schwartz Jaeheung Park 24 20 0 19 Apr 2023
Perceptive Locomotion with Controllable Pace and Natural Gait Transitions Over Uneven Terrains Daniel C.H. Tan Jenny Zhang Michael M. Chuah Zhibin Li 21 2 0 26 Jan 2023
Visual CPG-RL: Learning Central Pattern Generators for Visually-Guided Quadruped Locomotion Guillaume Bellegarda M. Shafiee A. Ijspeert 29 13 0 29 Dec 2022
Optimization-Based Control for Dynamic Legged Robots Patrick M. Wensing Michael Posa Yue Hu Adrien Escande Nicolas Mansard Andrea Del Prete 17 139 0 21 Nov 2022
Holo-Dex: Teaching Dexterity with Immersive Mixed Reality Sridhar Pandian Arunachalam Irmak Güzey Soumith Chintala Lerrel Pinto 34 67 0 12 Oct 2022
Learning an Efficient Terrain Representation for Haptic Localization of a Legged Robot Damian Sójka Michał R. Nowicki Piotr Skrzypczyñski 13 4 0 29 Sep 2022
Learning Low-Frequency Motion Control for Robust and Dynamic Robot Locomotion Siddhant Gangapurwala Luigi Campanaro Ioannis Havoutis 30 11 0 29 Sep 2022
Zero-Shot Retargeting of Learned Quadruped Locomotion Policies Using Hybrid Kinodynamic Model Predictive Control He Li Tingnan Zhang Wenhao Yu Patrick M. Wensing 35 6 0 28 Sep 2022
Learning and Deploying Robust Locomotion Policies with Minimal Dynamics Randomization Luigi Campanaro Siddhant Gangapurwala W. Merkt Ioannis Havoutis 50 13 0 26 Sep 2022
Recent Approaches for Perceptive Legged Locomotion Hersh Sanghvi 42 0 0 21 Sep 2022
Learning to Walk by Steering: Perceptive Quadrupedal Locomotion in Dynamic Environments Mingyo Seo Ryan Gupta Yifeng Zhu Alexy Skoutnev Luis Sentis Yuke Zhu 24 12 0 19 Sep 2022
GenLoco: Generalized Locomotion Controllers for Quadrupedal Robots Gilbert Feng Hongbo Zhang Zhongyu Li Xue Bin Peng Bhuvan Basireddy ... Zhitao Song Lizhi Yang Yunhui Liu K. Sreenath Sergey Levine 87 57 0 12 Sep 2022
Perceptive Locomotion through Nonlinear Model Predictive Control R. Grandia Fabian Jenelten Shao-hua Yang Farbod Farshidian Marco Hutter 24 141 0 17 Aug 2022
Generating a Terrain-Robustness Benchmark for Legged Locomotion: A Prototype via Terrain Authoring and Active Learning Chong Zhang Lizhi Yang 22 3 0 16 Aug 2022
PI-ARS: Accelerating Evolution-Learned Visual-Locomotion with Predictive Information Representations Kuang-Huei Lee Ofir Nachum Tingnan Zhang S. Guadarrama Jie Tan Wenhao Yu 24 16 0 27 Jul 2022
TAMOLS: Terrain-Aware Motion Optimization for Legged Systems Fabian Jenelten R. Grandia Farbod Farshidian Marco Hutter 37 58 0 28 Jun 2022
Learning Semantics-Aware Locomotion Skills from Human Demonstration Yuxiang Yang Xiang Meng Wenhao Yu Tingnan Zhang Jie Tan Byron Boots 13 12 0 27 Jun 2022
Neural Scene Representation for Locomotion on Structured Terrain David Hoeller N. Rudin Chris Choy Anima Anandkumar Marco Hutter 22 32 0 16 Jun 2022