Reinforcement Learning for Robust Parameterized Locomotion Control of Bipedal Robots

26 March 2021

Pieter Abbeel

Papers citing "Reinforcement Learning for Robust Parameterized Locomotion Control of Bipedal Robots"

48 / 48 papers shown

Title
HuB: Learning Extreme Humanoid Balance Tong Zhang Boyuan Zheng Ruiqian Nai Yingdong Hu Yen-Jen Wang ... Fanqi Lin Jiongye Li Chuye Hong K. Sreenath Yang Gao 28 0 0 12 May 2025
LangWBC: Language-directed Humanoid Whole-Body Control via End-to-end Learning Yiyang Shao Xiaoyu Huang Bike Zhang Qiayuan Liao Yuman Gao Yufeng Chi Zhongyu Li Sophia Shao K. Sreenath LM&Ro 190 0 0 30 Apr 2025
Model-based controller assisted domain randomization in deep reinforcement learning: application to nonlinear powertrain control Heisei Yonezawa Ansei Yonezawa Itsuro Kajiwara 45 0 0 28 Apr 2025
High-Performance Reinforcement Learning on Spot: Optimizing Simulation Parameters with Distributional Measures A. J Miller Fangzhou Yu Michael Brauckmann Farbod Farshidian OffRL BDL 23 0 0 24 Apr 2025
Discrete-Time Hybrid Automata Learning: Legged Locomotion Meets Skateboarding Hang Liu Sangli Teng Ben Liu Wei Zhang Maani Ghaffari 74 3 0 03 Mar 2025
HWC-Loco: A Hierarchical Whole-Body Control Approach to Robust Humanoid Locomotion Sixu Lin Guanren Qiao Yunxin Tai Ang Li Kui Jia Guiliang Liu 36 0 0 02 Mar 2025
ASAP: Aligning Simulation and Real-World Physics for Learning Agile Humanoid Whole-Body Skills Tairan He J. Gao Wenli Xiao Yuyao Zhang Zi Wang ... Jessica Hodgins Linxi Fan Yuke Zhu Changliu Liu Guanya Shi 84 11 0 03 Feb 2025
Design and Control of a Bipedal Robotic Character Ruben Grandia Espen Knoop Michael A. Hopkins Georg Wiedebach Jared Bishop Steven Pickles David Müller Moritz Bächer 50 11 0 10 Jan 2025
CurricuLLM: Automatic Task Curricula Design for Learning Complex Robot Skills using Large Language Models Kanghyun Ryu Qiayuan Liao Zhongyu Li K. Sreenath Negar Mehr Negar Mehr LM&Ro 183 3 0 27 Sep 2024
iWalker: Imperative Visual Planning for Walking Humanoid Robot Xiao Lin Yuhao Huang Taimeng Fu Xiaobin Xiong Chen Wang 36 0 0 27 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
BiRoDiff: Diffusion policies for bipedal robot locomotion on unseen terrains Gvs Mothish Manan Tayal Shishir Kolathaya 44 4 0 07 Jul 2024
I-CTRL: Imitation to Control Humanoid Robots Through Constrained Reinforcement Learning Yashuai Yan Esteve Valls Mascaro Tobias Egle Dongheui Lee 38 4 0 14 May 2024
Deep Reinforcement Learning for Bipedal Locomotion: A Brief Survey Lingfan Bao Josephine N. Humphreys Tianhu Peng Chengxu Zhou 73 5 0 25 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
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
Whole-body Humanoid Robot Locomotion with Human Reference Qiang Zhang Peter Cui David Yan Jingkai Sun Yiqun Duan Arthur Zhang Renjing Xu 39 30 0 28 Feb 2024
Similarity-based Knowledge Transfer for Cross-Domain Reinforcement Learning Sergio A. Serrano J. Martínez-Carranza L. Sucar 28 2 0 05 Dec 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
Extreme Parkour with Legged Robots Xuxin Cheng Kexin Shi Ananye Agarwal Deepak Pathak 28 150 0 25 Sep 2023
Soft Actor-Critic Algorithm with Truly-satisfied Inequality Constraint Taisuke Kobayashi 43 3 0 08 Mar 2023
Model-Free and Learning-Free Proprioceptive Humanoid Movement Control Boren Jiang Ximeng Tao Yuanfeng Han Wanze Li Gregory Chirikjian 6 0 0 28 Feb 2023
Deep Whole-Body Control: Learning a Unified Policy for Manipulation and Locomotion Zipeng Fu Xuxin Cheng Deepak Pathak 19 144 0 18 Oct 2022
Creating a Dynamic Quadrupedal Robotic Goalkeeper with Reinforcement Learning Xiaoyu Huang Zhongyu Li Yan-Ling Xiang Yiming Ni Yufeng Chi Yunhao Li Lizhi Yang Xue Bin Peng K. Sreenath 37 45 0 10 Oct 2022
Data-driven Adaptation for Robust Bipedal Locomotion with Step-to-Step Dynamics Min Dai Xiaobin Xiong Jaemin Lee Aaron D. Ames 48 9 0 18 Sep 2022
Hierarchical Reinforcement Learning for Precise Soccer Shooting Skills using a Quadrupedal Robot Yandong Ji Zhongyu Li Yinan Sun Xue Bin Peng Sergey Levine Glen Berseth K. Sreenath 39 63 0 01 Aug 2022
Learning Bipedal Walking On Planned Footsteps For Humanoid Robots R. P. Singh M. Benallegue M. Morisawa Rafael Cisneros F. Kanehiro 52 17 0 26 Jul 2022
Vessel-following model for inland waterways based on deep reinforcement learning Fabian Hart Ostap Okhrin M. Treiber 38 11 0 07 Jul 2022
Learning Switching Criteria for Sim2Real Transfer of Robotic Fabric Manipulation Policies Satvik Sharma Ellen R. Novoseller Vainavi Viswanath Zaynah Javed R. Parikh Ryan Hoque Ashwin Balakrishna Daniel S. Brown Ken Goldberg 21 8 0 02 Jul 2022
Barrier Certified Safety Learning Control: When Sum-of-Square Programming Meets Reinforcement Learning He-lu Huang Zerui Li Dongkun Han 35 2 0 16 Jun 2022
FishGym: A High-Performance Physics-based Simulation Framework for Underwater Robot Learning Wenji Liu Kai-Yi Bai Xuming He Shuran Song Changxi Zheng Xiaopei Liu AI4CE 32 12 0 03 Jun 2022
Adversarial joint attacks on legged robots Takuto Otomo Hiroshi Kera K. Kawamoto AAML 29 1 0 20 May 2022
Bridging Model-based Safety and Model-free Reinforcement Learning through System Identification of Low Dimensional Linear Models Zhongyu Li Jun Zeng A. Thirugnanam K. Sreenath 29 16 0 11 May 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
Custom Sine Waves Are Enough for Imitation Learning of Bipedal Gaits with Different Styles Qi Wu Chong Zhang Yanchen Liu 24 3 0 08 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 38 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
Bayesian Optimization Meets Hybrid Zero Dynamics: Safe Parameter Learning for Bipedal Locomotion Control Lizhi Yang Zhongyu Li Jun Zeng K. Sreenath 16 13 0 04 Mar 2022
Reactive Stepping for Humanoid Robots using Reinforcement Learning: Application to Standing Push Recovery on the Exoskeleton Atalante Alexis Duburcq Fabian Schramm Guilhem Boéris Nicolas Bredèche Y. Chevaleyre 32 8 0 02 Mar 2022
Integrated Task and Motion Planning for Safe Legged Navigation in Partially Observable Environments James Hegarty Zhaoyuan Gu J. Warnke Seth Hutchinson Armin Alaghi 32 32 0 23 Oct 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 13 23 0 26 Sep 2021
Autonomous Navigation of Underactuated Bipedal Robots in Height-Constrained Environments Zhongyu Li Jun Zeng Shuxiao Chen K. Sreenath 31 26 0 13 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
Fast Contact-Implicit Model-Predictive Control Simon Le Cleac'h Taylor A. Howell Shuo Yang Chia-Yen Lee John Z. Zhang Arun L. Bishop Mac Schwager Zachary Manchester 83 79 0 12 Jul 2021
Learning to run a Power Network Challenge: a Retrospective Analysis Antoine Marot Benjamin Donnot Gabriel Dulac-Arnold A. Kelly A. O'Sullivan J. Viebahn M. Awad Isabelle M Guyon P. Panciatici Camilo Romero 19 77 0 02 Mar 2021
Embodied Intelligence via Learning and Evolution Agrim Gupta Silvio Savarese Surya Ganguli Li Fei-Fei AI4CE 22 230 0 03 Feb 2021
DeepMimic: Example-Guided Deep Reinforcement Learning of Physics-Based Character Skills Xue Bin Peng Pieter Abbeel Sergey Levine M. van de Panne AI4CE 175 494 0 08 Apr 2018
CAD2RL: Real Single-Image Flight without a Single Real Image Fereshteh Sadeghi Sergey Levine SSL 246 809 0 13 Nov 2016