RMA: Rapid Motor Adaptation for Legged Robots

8 July 2021

Papers citing "RMA: Rapid Motor Adaptation for Legged Robots"

50 / 58 papers shown

Title
Situationally-Aware Dynamics Learning Alejandro Murillo-Gonzalez Lantao Liu 99 0 0 26 May 2025
GRoQ-LoCO: Generalist and Robot-agnostic Quadruped Locomotion Control using Offline Datasets Narayanan PP Sarvesh Prasanth Venkatesan Srinivas Kantha Reddy Shishir Kolathaya OffRL 53 0 0 16 May 2025
Let Humanoids Hike! Integrative Skill Development on Complex Trails Kwan-Yee Lin Stella X.Yu 84 0 0 09 May 2025
High-Performance Reinforcement Learning on Spot: Optimizing Simulation Parameters with Distributional Measures A. J Miller Fangzhou Yu Michael Brauckmann Farbod Farshidian OffRL BDL 93 1 0 24 Apr 2025
Learning Bipedal Locomotion on Gear-Driven Humanoid Robot Using Foot-Mounted IMUs Sotaro Katayama Yuta Koda Norio Nagatsuka Masaya Kinoshita 104 0 0 01 Apr 2025
ES-Parkour: Advanced Robot Parkour with Bio-inspired Event Camera and Spiking Neural Network Qiang Zhang Jiahang Cao Jingkai Sun Yecheng Shao Gang Han Wen Zhao Yijie Guo Renjing Xu 98 0 0 13 Mar 2025
Masked Sensory-Temporal Attention for Sensor Generalization in Quadruped Locomotion Dikai Liu Tianwei Zhang Jianxiong Yin Simon See 217 1 0 13 Mar 2025
Reasoning in visual navigation of end-to-end trained agents: a dynamical systems approach Steeven Janny Hervé Poirier L. Antsfeld G. Bono G. Monaci Boris Chidlovskii Francesco Giuliari Alessio Del Bue Christian Wolf LM&Ro 141 0 0 11 Mar 2025
ArticuBot: Learning Universal Articulated Object Manipulation Policy via Large Scale Simulation Yufei Wang Ziyu Wang Mino Nakura Pratik Bhowal Chia-Liang Kuo Yi-Ting Chen Zackory M. Erickson David Held 119 0 0 04 Mar 2025
Discrete-Time Hybrid Automata Learning: Legged Locomotion Meets Skateboarding Hang Liu Sangli Teng Ben Liu Wei Zhang Maani Ghaffari 88 4 0 03 Mar 2025
Learning Perceptive Humanoid Locomotion over Challenging Terrain Wandong Sun Baoshi Cao L. Chen Yongbo Su Yang Liu Zongwu Xie Hong Liu 101 2 0 02 Mar 2025
Learning Getting-Up Policies for Real-World Humanoid Robots Xialin He Runpei Dong Zixuan Chen Saurabh Gupta 101 8 0 17 Feb 2025
MonoForce: Learnable Image-conditioned Physics Engine R. Agishev Karel Zimmermann 190 0 0 14 Feb 2025
A Real-to-Sim-to-Real Approach to Robotic Manipulation with VLM-Generated Iterative Keypoint Rewards Shivansh Patel Xinchen Yin Wenlong Huang Shubham Garg H. Nayyeri Li Fei-Fei Svetlana Lazebnik Yongqian Li 131 1 0 12 Feb 2025
Rapidly Adapting Policies to the Real World via Simulation-Guided Fine-Tuning Patrick Yin Tyler Westenbroek Simran Bagaria Kevin Huang Ching-an Cheng Andrey Kobolov Abhishek Gupta 126 3 0 04 Feb 2025
Toward Task Generalization via Memory Augmentation in Meta-Reinforcement Learning Kaixi Bao Chenhao Li Yarden As Andreas Krause Marco Hutter OffRL CLL 186 1 0 03 Feb 2025
Understanding Expectations for a Robotic Guide Dog for Visually Impaired People J. Kim Morgan Byrd Jack L. Crandell Bruce N. Walker Greg Turk Sehoon Ha 95 2 0 08 Jan 2025
SOUS VIDE: Cooking Visual Drone Navigation Policies in a Gaussian Splatting Vacuum JunEn Low Maximilian Adang Javier Yu Keiko Nagami Mac Schwager 3DGS VGen 156 5 0 20 Dec 2024
Robust Contact-rich Manipulation through Implicit Motor Adaptation Teng Xue Amirreza Razmjoo Suhan Shetty Sylvain Calinon 136 1 0 16 Dec 2024
An Adaptive Grasping Force Tracking Strategy for Nonlinear and Time-Varying Object Behaviors Ziyang Cheng Xiangyu Tian Ruomin Sui Tiemin Li Yao Jiang 90 0 0 03 Dec 2024
Local Policies Enable Zero-shot Long-horizon Manipulation Murtaza Dalal Min Liu Walter Talbott Chen Chen Deepak Pathak Jian Zhang Ruslan Salakhutdinov 114 3 0 29 Oct 2024
Environment as Policy: Learning to Race in Unseen Tracks Hongze Wang Jiaxu Xing Nico Messikommer Davide Scaramuzza 71 1 0 29 Oct 2024
Agile Mobility with Rapid Online Adaptation via Meta-learning and Uncertainty-aware MPPI Dvij Kalaria Haoru Xue Wenli Xiao Tony Tao Guanya Shi John M. Dolan 62 2 0 09 Oct 2024
Playful DoggyBot: Learning Agile and Precise Quadrupedal Locomotion Xin Duan Ziwen Zhuang Hang Zhao Soeren Schwertfeger 97 2 0 30 Sep 2024
Context-Based Meta Reinforcement Learning for Robust and Adaptable Peg-in-Hole Assembly Tasks Ahmed Shokry Walid Gomaa Tobias Zaenker Murad Dawood Shady A. Maged Mohammed I. Awad Maren Bennewitz Maren Bennewitz OffRL 58 0 0 24 Sep 2024
PIP-Loco: A Proprioceptive Infinite Horizon Planning Framework for Quadrupedal Robot Locomotion Aditya Shirwatkar Naman Saxena Kishore Chandra Shishir Kolathaya 88 3 0 14 Sep 2024
One Policy to Run Them All: an End-to-end Learning Approach to Multi-Embodiment Locomotion Nico Bohlinger Grzegorz Czechmanowski Maciej Krupka Piotr Kicki Krzysztof Walas Jan Peters Davide Tateo 78 20 0 10 Sep 2024
Achieving Human Level Competitive Robot Table Tennis David B. DÁmbrosio Saminda Abeyruwan L. Graesser Atil Iscen H. B. Amor ... Vikas Sindhwani Vincent Vanhoucke Grace Vesom P. Xu Pannag R Sanketi 113 15 0 07 Aug 2024
Following the Human Thread in Social Navigation Luca Scofano Alessio Sampieri Tommaso Campari Valentino Sacco Indro Spinelli Lamberto Ballan Fabio Galasso 68 0 0 17 Apr 2024
Towards an Information Theoretic Framework of Context-Based Offline Meta-Reinforcement Learning Lanqing Li Hai Zhang Xinyu Zhang Shatong Zhu Junqiao Zhao Junqiao Zhao Pheng-Ann Heng OffRL 74 8 0 04 Feb 2024
OmniDrones: An Efficient and Flexible Platform for Reinforcement Learning in Drone Control Botian Xu Feng Gao Chao Yu Chao Yu Yi Wu Yu Wang 85 30 0 22 Sep 2023
Dynamics Randomization Revisited:A Case Study for Quadrupedal Locomotion Zhaoming Xie Xingye Da M. van de Panne Buck Babich Animesh Garg 68 91 0 04 Nov 2020
Learning Quadrupedal Locomotion over Challenging Terrain Joonho Lee Jemin Hwangbo Lorenz Wellhausen V. Koltun Marco Hutter 122 1,170 0 21 Oct 2020
Learning Agile Robotic Locomotion Skills by Imitating Animals Xue Bin Peng Erwin Coumans Tingnan Zhang T. Lee Jie Tan Sergey Levine 115 504 0 02 Apr 2020
Rapidly Adaptable Legged Robots via Evolutionary Meta-Learning Xingyou Song Yuxiang Yang K. Choromanski Ken Caluwaerts Wenbo Gao Chelsea Finn Jie Tan 170 80 0 02 Mar 2020
Policies Modulating Trajectory Generators Atil Iscen Ken Caluwaerts Jie Tan Tingnan Zhang Erwin Coumans Vikas Sindhwani Vincent Vanhoucke 60 132 0 07 Oct 2019
Learning Fast Adaptation with Meta Strategy Optimization Wenhao Yu Jie Tan Yunfei Bai Erwin Coumans Sehoon Ha 72 93 0 28 Sep 2019
Multi-Agent Manipulation via Locomotion using Hierarchical Sim2Real Ofir Nachum Michael Ahn Hugo Ponte S. Gu Vikash Kumar 56 90 0 13 Aug 2019
Environment Probing Interaction Policies Wenxuan Zhou Lerrel Pinto Abhinav Gupta 56 67 0 26 Jul 2019
Data Efficient Reinforcement Learning for Legged Robots Yuxiang Yang Ken Caluwaerts Atil Iscen Tingnan Zhang Jie Tan Vikas Sindhwani 73 140 0 08 Jul 2019
Sim-to-Real Transfer for Biped Locomotion Wenhao Yu Visak C. V. Kumar Greg Turk Chenxi Liu 36 115 0 04 Mar 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 1,309 0 24 Jan 2019
Learning to Walk via Deep Reinforcement Learning Tuomas Haarnoja Sehoon Ha Aurick Zhou Jie Tan George Tucker Sergey Levine 100 438 0 26 Dec 2018
Policy Transfer with Strategy Optimization Wenhao Yu Chenxi Liu Greg Turk 62 80 0 12 Oct 2018
Optimizing Simulations with Noise-Tolerant Structured Exploration K. Choromanski Atil Iscen Vikas Sindhwani Jie Tan Erwin Coumans 49 12 0 20 May 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 88 803 0 27 Apr 2018
Learning to Adapt in Dynamic, Real-World Environments Through Meta-Reinforcement Learning Anusha Nagabandi I. Clavera Simin Liu R. Fearing Pieter Abbeel Sergey Levine Chelsea Finn 117 548 0 30 Mar 2018
Addressing Function Approximation Error in Actor-Critic Methods Scott Fujimoto H. V. Hoof David Meger OffRL 169 5,182 0 26 Feb 2018
Sim-to-Real Transfer of Robotic Control with Dynamics Randomization Xue Bin Peng Marcin Andrychowicz Wojciech Zaremba Pieter Abbeel 102 1,363 0 18 Oct 2017
Proximal Policy Optimization Algorithms John Schulman Filip Wolski Prafulla Dhariwal Alec Radford Oleg Klimov OffRL 478 19,019 0 20 Jul 2017