GLiDE: Generalizable Quadrupedal Locomotion in Diverse Environments with a Centroidal Model

20 April 2021

Papers citing "GLiDE: Generalizable Quadrupedal Locomotion in Diverse Environments with a Centroidal Model"

37 / 37 papers shown

Title
Isaac Gym: High Performance GPU-Based Physics Simulation For Robot Learning Viktor Makoviychuk Lukasz Wawrzyniak Yunrong Guo Michelle Lu Kier Storey ... David Hoeller Nikita Rudin Arthur Allshire Ankur Handa Gavriel State 148 1,065 0 24 Aug 2021
LASER: Learning a Latent Action Space for Efficient Reinforcement Learning Arthur Allshire Roberto Martín-Martín Charles Lin Shawn Manuel Silvio Savarese Animesh Garg 41 56 0 29 Mar 2021
3D Underactuated Bipedal Walking via H-LIP based Gait Synthesis and Stepping Stabilization Xiaobin Xiong Aaron D. Ames 49 79 0 23 Jan 2021
Multi-expert learning of adaptive legged locomotion Chuanyu Yang Kai Yuan Qiuguo Zhu Wanming Yu Zhibin Li 144 187 0 10 Dec 2020
RLOC: Terrain-Aware Legged Locomotion using Reinforcement Learning and Optimal Control Siddhant Gangapurwala Mathieu Geisert Romeo Orsolino Maurice F. Fallon Ioannis Havoutis 97 116 0 05 Dec 2020
From Pixels to Legs: Hierarchical Learning of Quadruped Locomotion Deepali Jain Atil Iscen Ken Caluwaerts 54 35 0 23 Nov 2020
Learning Task Space Actions for Bipedal Locomotion Helei Duan Jeremy Dao Kevin R. Green Taylor Apgar Alan Fern J. Hurst 38 45 0 09 Nov 2020
NeuralSim: Augmenting Differentiable Simulators with Neural Networks Eric Heiden David Millard Erwin Coumans Yizhou Sheng Gaurav Sukhatme 49 139 0 09 Nov 2020
Learning a Centroidal Motion Planner for Legged Locomotion Julian Viereck Ludovic Righetti 60 17 0 05 Nov 2020
Dynamics Randomization Revisited:A Case Study for Quadrupedal Locomotion Zhaoming Xie Xingye Da M. van de Panne Buck Babich Animesh Garg 57 91 0 04 Nov 2020
Multi-Layered Safety for Legged Robots via Control Barrier Functions and Model Predictive Control R. Grandia Andrew J. Taylor Aaron D. Ames Marco Hutter 43 122 0 30 Oct 2020
Robust Quadrupedal Locomotion on Sloped Terrains: A Linear Policy Approach Kartik Paigwar L. Krishna Sashank Tirumala Naman Khetan Aditya Sagi Ashish Joglekar S. Bhatnagar A. Ghosal B. Amrutur Shishir Kolathaya 37 17 0 30 Oct 2020
DeepQ Stepper: A framework for reactive dynamic walking on uneven terrain Avadesh Meduri Majid Khadiv Ludovic Righetti 41 11 0 28 Oct 2020
Conservative Safety Critics for Exploration Homanga Bharadhwaj Aviral Kumar Nicholas Rhinehart Sergey Levine Florian Shkurti Animesh Garg OffRL 85 139 0 27 Oct 2020
Learning Quadrupedal Locomotion over Challenging Terrain Joonho Lee Jemin Hwangbo Lorenz Wellhausen V. Koltun Marco Hutter 113 1,166 0 21 Oct 2020
Learning Spring Mass Locomotion: Guiding Policies with a Reduced-Order Model Kevin R. Green Yesh Godse Jeremy Dao Ross L. Hatton Alan Fern J. Hurst 32 43 0 21 Oct 2020
Learning a Contact-Adaptive Controller for Robust, Efficient Legged Locomotion Xingye Da Zhaoming Xie David Hoeller Byron Boots Anima Anandkumar Yuke Zhu Buck Babich Animesh Garg 46 57 0 21 Sep 2020
Planning in Learned Latent Action Spaces for Generalizable Legged Locomotion Tianyu Li Roberto Calandra Deepak Pathak Yuandong Tian Franziska Meier Akshara Rai 37 30 0 27 Aug 2020
Angular Momentum about the Contact Point for Control of Bipedal Locomotion: Validation in a LIP-based Controller Yukai Gong J. Grizzle 24 40 0 25 Aug 2020
Line Walking and Balancing for Legged Robots with Point Feet Carlos Gonzalez Victor Barasuol M. Frigerio R. Featherstone D. Caldwell Claudio Semini 24 21 0 02 Jul 2020
Learning Agile Robotic Locomotion Skills by Imitating Animals Xue Bin Peng Erwin Coumans Tingnan Zhang T. Lee Jie Tan Sergey Levine 115 503 0 02 Apr 2020
Motion Planning for Quadrupedal Locomotion: Coupled Planning, Terrain Mapping and Whole-Body Control Carlos Mastalli Ioannis Havoutis Michele Focchi D. Caldwell Claudio Semini 48 111 0 11 Mar 2020
Guided Constrained Policy Optimization for Dynamic Quadrupedal Robot Locomotion Siddhant Gangapurwala Alexander L. Mitchell Ioannis Havoutis 48 55 0 22 Feb 2020
PyTorch: An Imperative Style, High-Performance Deep Learning Library Adam Paszke Sam Gross Francisco Massa Adam Lerer James Bradbury ... Sasank Chilamkurthy Benoit Steiner Lu Fang Junjie Bai Soumith Chintala ODL 359 42,299 0 03 Dec 2019
Learning Hierarchical Control for Robust In-Hand Manipulation Tingguang Li K. Srinivasan Max Meng Wenzhen Yuan Jeannette Bohg 68 41 0 24 Oct 2019
DeepGait: Planning and Control of Quadrupedal Gaits using Deep Reinforcement Learning Vassilios Tsounis Mitja Alge Joonho Lee Farbod Farshidian Marco Hutter 62 188 0 18 Sep 2019
MPC-Net: A First Principles Guided Policy Search Jan Carius Farbod Farshidian Marco Hutter 39 53 0 11 Sep 2019
Data Efficient Reinforcement Learning for Legged Robots Yuxiang Yang Ken Caluwaerts Atil Iscen Tingnan Zhang Jie Tan Vikas Sindhwani 68 140 0 08 Jul 2019
Variable Impedance Control in End-Effector Space: An Action Space for Reinforcement Learning in Contact-Rich Tasks Roberto Martín-Martín Michelle A. Lee Rachel Gardner Silvio Savarese Jeannette Bohg Animesh Garg 61 195 0 20 Jun 2019
Learning agile and dynamic motor skills for legged robots Jemin Hwangbo Joonho Lee Alexey Dosovitskiy Dario Bellicoso Vassilios Tsounis V. Koltun Marco Hutter 103 1,304 0 24 Jan 2019
Efficient Humanoid Contact Planning using Learned Centroidal Dynamics Prediction Yu-Chi Lin Brahayam Pontón Ludovic Righetti Dmitry Berenson 33 40 0 31 Oct 2018
Using Deep Reinforcement Learning to Learn High-Level Policies on the ATRIAS Biped Tianyu Li Akshara Rai H. Geyer C. Atkeson 53 51 0 28 Sep 2018
Frequency-Aware Model Predictive Control R. Grandia Farbod Farshidian Alexey Dosovitskiy René Ranftl Marco Hutter 57 49 0 12 Sep 2018
Sim-to-Real: Learning Agile Locomotion For Quadruped Robots Jie Tan Tingnan Zhang Erwin Coumans Atil Iscen Yunfei Bai Danijar Hafner Steven Bohez Vincent Vanhoucke 88 802 0 27 Apr 2018
Progressive Reinforcement Learning with Distillation for Multi-Skilled Motion Control Glen Berseth Kevin Xie Paul Cernek M. van de Panne 69 56 0 13 Feb 2018
Proximal Policy Optimization Algorithms John Schulman Filip Wolski Prafulla Dhariwal Alec Radford Oleg Klimov OffRL 444 18,931 0 20 Jul 2017
Preparing for the Unknown: Learning a Universal Policy with Online System Identification Wenhao Yu Jie Tan Chenxi Liu Greg Turk OffRL 71 307 0 08 Feb 2017