Legged Robots that Keep on Learning: Fine-Tuning Locomotion Policies in the Real World

11 October 2021

Jie Tan

Papers citing "Legged Robots that Keep on Learning: Fine-Tuning Locomotion Policies in the Real World"

27 / 27 papers shown

Title
Automated Hybrid Reward Scheduling via Large Language Models for Robotic Skill Learning Changxin Huang Junyang Liang Yanbin Chang Jingzhao Xu Jianqiang Li 34 0 0 05 May 2025
Fine-Tuning without Performance Degradation Han Wang Adam White Martha White OnRL 161 0 0 01 May 2025
Deformable Multibody Modeling for Model Predictive Control in Legged Locomotion with Embodied Compliance Keran Ye Konstantinos Karydis 42 0 0 28 Apr 2025
Multi-Fidelity Policy Gradient Algorithms Xinjie Liu Cyrus Neary Kushagra Gupta Christian Ellis Ufuk Topcu David Fridovich-Keil OffRL 161 0 0 07 Mar 2025
Robotic Table Tennis: A Case Study into a High Speed Learning System David B. DÁmbrosio Jonathan Abelian Saminda Abeyruwan Michael Ahn Alex Bewley ... Vikas Sindhwani Avi Singh Vincent Vanhoucke Grace Vesom Peng-Tao Xu 60 13 0 20 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 78 2 0 04 Feb 2025
SoloParkour: Constrained Reinforcement Learning for Visual Locomotion from Privileged Experience Elliot Chane-Sane Joseph Amigo Thomas Flayols Ludovic Righetti Nicolas Mansard 54 6 0 20 Sep 2024
Adaptive Mobile Manipulation for Articulated Objects In the Open World Haoyu Xiong Russell Mendonca Kenneth Shaw Deepak Pathak 34 38 0 25 Jan 2024
DoraemonGPT: Toward Understanding Dynamic Scenes with Large Language Models (Exemplified as A Video Agent) Zongxin Yang Guikun Chen Xiaodi Li Wenguan Wang Yi Yang LM&Ro LLMAG 66 35 0 16 Jan 2024
Extreme Parkour with Legged Robots Xuxin Cheng Kexin Shi Ananye Agarwal Deepak Pathak 28 148 0 25 Sep 2023
Learning Risk-Aware Quadrupedal Locomotion using Distributional Reinforcement Learning Lukas Schneider Jonas Frey Takahiro Miki Marco Hutter 30 9 0 25 Sep 2023
Machine Learning Meets Advanced Robotic Manipulation Saeid Nahavandi R. Alizadehsani D. Nahavandi Chee Peng Lim Kevin Kelly Fernando Bello 24 17 0 22 Sep 2023
Barkour: Benchmarking Animal-level Agility with Quadruped Robots Ken Caluwaerts Atil Iscen J. Kew Wenhao Yu Tingnan Zhang ... J. Seto Carolina Parada Vikas Sindhwani Vincent Vanhoucke Jie Tan 27 59 0 24 May 2023
Learning Agile, Vision-based Drone Flight: from Simulation to Reality Davide Scaramuzza Elia Kaufmann 34 3 0 09 Apr 2023
DribbleBot: Dynamic Legged Manipulation in the Wild Yandong Ji G. Margolis Pulkit Agrawal 26 53 0 03 Apr 2023
Self-Improving Robots: End-to-End Autonomous Visuomotor Reinforcement Learning Archit Sharma Ahmed M. Ahmed Rehaan Ahmad Chelsea Finn SSL 51 17 0 02 Mar 2023
Perceptive Locomotion with Controllable Pace and Natural Gait Transitions Over Uneven Terrains Daniel C.H. Tan Jenny Zhang Michael M. Chuah Zhibin Li 26 2 0 26 Jan 2023
Multi-embodiment Legged Robot Control as a Sequence Modeling Problem Chenyi Yu Weinan Zhang H. Lai Zheng Tian L. Kneip Jun Wang 31 15 0 18 Dec 2022
Legged Locomotion in Challenging Terrains using Egocentric Vision Ananye Agarwal Ashish Kumar Jitendra Malik Deepak Pathak 28 204 0 14 Nov 2022
Deep Whole-Body Control: Learning a Unified Policy for Manipulation and Locomotion Zipeng Fu Xuxin Cheng Deepak Pathak 19 144 0 18 Oct 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 62 0 01 Aug 2022
DayDreamer: World Models for Physical Robot Learning Philipp Wu Alejandro Escontrela Danijar Hafner Ken Goldberg Pieter Abbeel 47 277 0 28 Jun 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
Coupling Vision and Proprioception for Navigation of Legged Robots Zipeng Fu Ashish Kumar Ananye Agarwal Haozhi Qi Jitendra Malik Deepak Pathak 21 73 0 03 Dec 2021
DeepMimic: Example-Guided Deep Reinforcement Learning of Physics-Based Character Skills Xue Bin Peng Pieter Abbeel Sergey Levine M. van de Panne AI4CE 175 495 0 08 Apr 2018
Emergence of Locomotion Behaviours in Rich Environments N. Heess TB Dhruva S. Sriram Jay Lemmon J. Merel ... Tom Erez Ziyun Wang S. M. Ali Eslami Martin Riedmiller David Silver 134 928 0 07 Jul 2017
CAD2RL: Real Single-Image Flight without a Single Real Image Fereshteh Sadeghi Sergey Levine SSL 229 809 0 13 Nov 2016