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Learning to Walk in Minutes Using Massively Parallel Deep Reinforcement
  Learning

Learning to Walk in Minutes Using Massively Parallel Deep Reinforcement Learning

24 September 2021
Nikita Rudin
David Hoeller
Philipp Reist
Marco Hutter
ArXivPDFHTML

Papers citing "Learning to Walk in Minutes Using Massively Parallel Deep Reinforcement Learning"

41 / 41 papers shown
Title
Learning Unified Force and Position Control for Legged Loco-Manipulation
Learning Unified Force and Position Control for Legged Loco-Manipulation
Peiyuan Zhi
Peiyang Li
Jianqin Yin
Baoxiong Jia
Siyuan Huang
29
0
0
27 May 2025
H2-COMPACT: Human-Humanoid Co-Manipulation via Adaptive Contact Trajectory Policies
H2-COMPACT: Human-Humanoid Co-Manipulation via Adaptive Contact Trajectory Policies
Geeta Chandra Raju Bethala
Hao Huang
Niraj Pudasaini
Abdullah Mohamed Ali
Shuaihang Yuan
Congcong Wen
Anthony Tzes
Yi Fang
52
0
0
23 May 2025
Drive Fast, Learn Faster: On-Board RL for High Performance Autonomous Racing
Drive Fast, Learn Faster: On-Board RL for High Performance Autonomous Racing
Benedict Hildisch
Edoardo Ghignone
Nicolas Baumann
Cheng Hu
Andrea Carron
Michele Magno
43
0
0
12 May 2025
Whleaper: A 10-DOF Flexible Bipedal Wheeled Robot
Whleaper: A 10-DOF Flexible Bipedal Wheeled Robot
Yinglei Zhu
Sixiao He
Zhenghao Qi
Zhuoyuan Yong
Yihua Qin
Jianyu Chen
45
0
0
30 Apr 2025
Learned Perceptive Forward Dynamics Model for Safe and Platform-aware Robotic Navigation
Learned Perceptive Forward Dynamics Model for Safe and Platform-aware Robotic Navigation
Pascal Roth
Jonas Frey
Cesar Cadena
Marco Hutter
52
0
0
27 Apr 2025
High-Performance Reinforcement Learning on Spot: Optimizing Simulation Parameters with Distributional Measures
High-Performance Reinforcement Learning on Spot: Optimizing Simulation Parameters with Distributional Measures
A. J Miller
Fangzhou Yu
Michael Brauckmann
Farbod Farshidian
OffRL
BDL
74
0
0
24 Apr 2025
Bridging Deep Reinforcement Learning and Motion Planning for Model-Free Navigation in Cluttered Environments
Bridging Deep Reinforcement Learning and Motion Planning for Model-Free Navigation in Cluttered Environments
Licheng Luo
Mingyu Cai
50
0
0
09 Apr 2025
Learning Bipedal Locomotion on Gear-Driven Humanoid Robot Using Foot-Mounted IMUs
Learning Bipedal Locomotion on Gear-Driven Humanoid Robot Using Foot-Mounted IMUs
Sotaro Katayama
Yuta Koda
Norio Nagatsuka
Masaya Kinoshita
72
0
0
01 Apr 2025
LEVA: A high-mobility logistic vehicle with legged suspension
LEVA: A high-mobility logistic vehicle with legged suspension
Marco Arnold
Lukas Hildebrandt
Kaspar Janssen
Efe Ongan
Pascal Bürge
...
Turcan Tuna
Giorgio Valsecchi
Cedric Weibel
Marco Hutter
Michael Wütrich
55
0
0
13 Mar 2025
Masked Sensory-Temporal Attention for Sensor Generalization in Quadruped Locomotion
Masked Sensory-Temporal Attention for Sensor Generalization in Quadruped Locomotion
Dikai Liu
Tianwei Zhang
Jianxiong Yin
Simon See
135
1
0
13 Mar 2025
Discrete-Time Hybrid Automata Learning: Legged Locomotion Meets Skateboarding
Discrete-Time Hybrid Automata Learning: Legged Locomotion Meets Skateboarding
Hang Liu
Sangli Teng
Ben Liu
Wei Zhang
Maani Ghaffari
78
3
0
03 Mar 2025
HWC-Loco: A Hierarchical Whole-Body Control Approach to Robust Humanoid Locomotion
HWC-Loco: A Hierarchical Whole-Body Control Approach to Robust Humanoid Locomotion
Sixu Lin
Guanren Qiao
Yunxin Tai
Ang Li
Kui Jia
Guiliang Liu
49
1
0
02 Mar 2025
Variable Stiffness for Robust Locomotion through Reinforcement Learning
Variable Stiffness for Robust Locomotion through Reinforcement Learning
Dario Spoljaric
Yashuai Yan
Dongheui Lee
104
0
0
13 Feb 2025
Strengthening Generative Robot Policies through Predictive World Modeling
Strengthening Generative Robot Policies through Predictive World Modeling
Han Qi
Haocheng Yin
Aris Zhu
Yilun Du
Heng Yang
97
2
0
02 Feb 2025
ToddlerBot: Open-Source ML-Compatible Humanoid Platform for Loco-Manipulation
ToddlerBot: Open-Source ML-Compatible Humanoid Platform for Loco-Manipulation
Haochen Shi
Weizhuo Wang
Shuran Song
Chenxi Liu
62
3
0
02 Feb 2025
Design and Control of a Bipedal Robotic Character
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
77
13
0
10 Jan 2025
Understanding Expectations for a Robotic Guide Dog for Visually Impaired People
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
79
2
0
08 Jan 2025
Stabilizing Reinforcement Learning in Differentiable Multiphysics Simulation
Stabilizing Reinforcement Learning in Differentiable Multiphysics Simulation
Eliot Xing
Vernon Luk
Jean Oh
114
0
0
16 Dec 2024
Whole-Body Dynamic Throwing with Legged Manipulators
Whole-Body Dynamic Throwing with Legged Manipulators
Humphrey Munn
Brendan Tidd
Peter Böhm
M. Gallagher
David Howard
52
2
0
08 Oct 2024
Playful DoggyBot: Learning Agile and Precise Quadrupedal Locomotion
Playful DoggyBot: Learning Agile and Precise Quadrupedal Locomotion
Xin Duan
Ziwen Zhuang
Hang Zhao
Soeren Schwertfeger
72
2
0
30 Sep 2024
Learning to Swim: Reinforcement Learning for 6-DOF Control of Thruster-driven Autonomous Underwater Vehicles
Learning to Swim: Reinforcement Learning for 6-DOF Control of Thruster-driven Autonomous Underwater Vehicles
Levi Cai
Kevin Chang
Yogesh A. Girdhar
76
1
0
30 Sep 2024
LiRA: Light-Robust Adversary for Model-based Reinforcement Learning in Real World
LiRA: Light-Robust Adversary for Model-based Reinforcement Learning in Real World
Taisuke Kobayashi
92
2
0
29 Sep 2024
The Duke Humanoid: Design and Control For Energy Efficient Bipedal Locomotion Using Passive Dynamics
The Duke Humanoid: Design and Control For Energy Efficient Bipedal Locomotion Using Passive Dynamics
Boxi Xia
Bokuan Li
Jacob Lee
Michael Scutari
Boyuan Chen
AI4CE
58
4
0
29 Sep 2024
CurricuLLM: Automatic Task Curricula Design for Learning Complex Robot Skills using Large Language Models
CurricuLLM: Automatic Task Curricula Design for Learning Complex Robot Skills using Large Language Models
Kanghyun Ryu
Qiayuan Liao
Zhongyu Li
Koushil Sreenath
Negar Mehr
Negar Mehr
LM&Ro
262
3
0
27 Sep 2024
A Learning Framework for Diverse Legged Robot Locomotion Using Barrier-Based Style Rewards
A Learning Framework for Diverse Legged Robot Locomotion Using Barrier-Based Style Rewards
Gijeong Kim
Yong-Hoon Lee
Hae-Won Park
77
6
0
24 Sep 2024
Whole-body End-Effector Pose Tracking
Whole-body End-Effector Pose Tracking
Tifanny Portela
Andrei Cramariuc
Mayank Mittal
Marco Hutter
79
3
0
24 Sep 2024
Human-Robot Cooperative Distribution Coupling for Hamiltonian-Constrained Social Navigation
Human-Robot Cooperative Distribution Coupling for Hamiltonian-Constrained Social Navigation
Weizheng Wang
Chao Yu
Yu Wang
Byung-Cheol Min
309
2
0
20 Sep 2024
PIP-Loco: A Proprioceptive Infinite Horizon Planning Framework for Quadrupedal Robot Locomotion
PIP-Loco: A Proprioceptive Infinite Horizon Planning Framework for Quadrupedal Robot Locomotion
Aditya Shirwatkar
Naman Saxena
Kishore Chandra
Shishir Kolathaya
71
3
0
14 Sep 2024
AnyBipe: An End-to-End Framework for Training and Deploying Bipedal Robots Guided by Large Language Models
AnyBipe: An End-to-End Framework for Training and Deploying Bipedal Robots Guided by Large Language Models
Yifei Yao
Wentao He
Chenyu Gu
Jiaheng Du
Fuwei Tan
Zhen Zhu
Junguo Lu
OffRL
42
2
0
13 Sep 2024
One Policy to Run Them All: an End-to-end Learning Approach to Multi-Embodiment Locomotion
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
59
19
0
10 Sep 2024
FORGE: Force-Guided Exploration for Robust Contact-Rich Manipulation under Uncertainty
FORGE: Force-Guided Exploration for Robust Contact-Rich Manipulation under Uncertainty
Michael Noseworthy
Bingjie Tang
Bowen Wen
Ankur Handa
Nicholas Roy
Nicholas Roy
Dieter Fox
Yashraj S. Narang
Iretiayo Akinola
Iretiayo Akinola
64
9
0
08 Aug 2024
Text2Robot: Evolutionary Robot Design from Text Descriptions
Text2Robot: Evolutionary Robot Design from Text Descriptions
Ryan P. Ringel
Zachary S. Charlick
Jiaxun Liu
Boxi Xia
Boyuan Chen
88
2
0
28 Jun 2024
Safe Reinforcement Learning in Black-Box Environments via Adaptive Shielding
Safe Reinforcement Learning in Black-Box Environments via Adaptive Shielding
Daniel Bethell
Simos Gerasimou
R. Calinescu
Calum Imrie
OffRL
OnRL
78
0
0
28 May 2024
On Robust Reinforcement Learning with Lipschitz-Bounded Policy Networks
On Robust Reinforcement Learning with Lipschitz-Bounded Policy Networks
Nicholas H. Barbara
Ruigang Wang
I. Manchester
59
4
0
19 May 2024
Deep Reinforcement Learning for Bipedal Locomotion: A Brief Survey
Deep Reinforcement Learning for Bipedal Locomotion: A Brief Survey
Lingfan Bao
Josephine N. Humphreys
Tianhu Peng
Chengxu Zhou
82
7
0
25 Apr 2024
Adaptive Energy Regularization for Autonomous Gait Transition and Energy-Efficient Quadruped Locomotion
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
Koushil Sreenath
Masayoshi Tomizuka
94
3
0
29 Mar 2024
Learning Goal-Directed Object Pushing in Cluttered Scenes with Location-Based Attention
Learning Goal-Directed Object Pushing in Cluttered Scenes with Location-Based Attention
Nils Dengler
Juan Del Aguila Ferrandis
João Moura
S. Vijayakumar
Maren Bennewitz
66
0
0
26 Mar 2024
OmniDrones: An Efficient and Flexible Platform for Reinforcement Learning in Drone Control
OmniDrones: An Efficient and Flexible Platform for Reinforcement Learning in Drone Control
Botian Xu
Feng Gao
Chao Yu
Chao Yu
Yi Wu
Yu Wang
50
29
0
22 Sep 2023
Large Batch Simulation for Deep Reinforcement Learning
Large Batch Simulation for Deep Reinforcement Learning
Brennan Shacklett
Erik Wijmans
Aleksei Petrenko
Manolis Savva
Dhruv Batra
V. Koltun
Kayvon Fatahalian
3DV
OffRL
AI4CE
54
26
0
12 Mar 2021
Solving Rubik's Cube with a Robot Hand
Solving Rubik's Cube with a Robot Hand
OpenAI
Ilge Akkaya
Marcin Andrychowicz
Maciek Chociej
Ma-teusz Litwin
...
Peter Welinder
Lilian Weng
Qiming Yuan
Wojciech Zaremba
Lei Zhang
ODL
53
1,215
0
16 Oct 2019
Automatic Goal Generation for Reinforcement Learning Agents
Automatic Goal Generation for Reinforcement Learning Agents
Carlos Florensa
David Held
Xinyang Geng
Pieter Abbeel
87
506
0
17 May 2017
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