Learning robust perceptive locomotion for quadrupedal robots in the wild

20 January 2022

Marco Hutter

Papers citing "Learning robust perceptive locomotion for quadrupedal robots in the wild"

50 / 158 papers shown

Title
FLD: Fourier Latent Dynamics for Structured Motion Representation and Learning Chenhao Li Elijah Stanger-Jones Steve Heim Sangbae Kim 43 9 0 21 Feb 2024
You've Got to Feel It To Believe It: Multi-Modal Bayesian Inference for Semantic and Property Prediction Parker Ewen Hao Chen Yuzhen Chen Anran Li Anup Bagali Gitesh Gunjal Ram Vasudevan 34 5 0 08 Feb 2024
Agile But Safe: Learning Collision-Free High-Speed Legged Locomotion Tairan He Chong Zhang Wenli Xiao Guanqi He Changliu Liu Guanya Shi 47 59 0 31 Jan 2024
Curriculum-Based Reinforcement Learning for Quadrupedal Jumping: A Reference-free Design Vassil Atanassov Jiatao Ding Jens Kober Ioannis Havoutis Cosimo Della Santina 23 8 0 29 Jan 2024
Adaptive Control Strategy for Quadruped Robots in Actuator Degradation Scenarios Xinyuan Wu Wentao Dong Hang Lai Yong Yu Ying Wen 22 2 0 29 Dec 2023
Actuator-Constrained Reinforcement Learning for High-Speed Quadrupedal Locomotion Young-Ha Shin Tae-Gyu Song Gwanghyeon Ji Hae-Won Park 24 4 0 29 Dec 2023
Hybrid Internal Model: Learning Agile Legged Locomotion with Simulated Robot Response Junfeng Long Zirui Wang Quanyi Li Jiawei Gao Liu Cao Jiangmiao Pang 68 26 0 18 Dec 2023
An Invitation to Deep Reinforcement Learning Bernhard Jaeger Andreas Geiger OffRL OOD 78 5 0 13 Dec 2023
ManyQuadrupeds: Learning a Single Locomotion Policy for Diverse Quadruped Robots M. Shafiee Guillaume Bellegarda A. Ijspeert 31 26 0 16 Oct 2023
An Open-Loop Baseline for Reinforcement Learning Locomotion Tasks Antonin Raffin Olivier Sigaud Jens Kober Alin Albu-Schäffer João Silvério F. Stulp 32 2 0 09 Oct 2023
Resilient Legged Local Navigation: Learning to Traverse with Compromised Perception End-to-End Jin Jin Chong Zhang Jonas Frey Nikita Rudin Matías Mattamala Cesar Cadena Marco Hutter 33 13 0 05 Oct 2023
Generalized Animal Imitator: Agile Locomotion with Versatile Motion Prior Ruihan Yang Zhuoqun Chen Jianhan Ma Chongyi Zheng Yiyu Chen Quan Nguyen Qing Guo 45 17 0 02 Oct 2023
DTC: Deep Tracking Control Fabian Jenelten Junzhe He Farbod Farshidian Marco Hutter 24 73 0 27 Sep 2023
STERLING: Self-Supervised Terrain Representation Learning from Unconstrained Robot Experience Haresh Karnan Elvin Yang Daniel Farkash Garrett A. Warnell Joydeep Biswas Peter Stone SSL 30 26 0 26 Sep 2023
Learning Vision-Based Bipedal Locomotion for Challenging Terrain Helei Duan Bikram Pandit M. S. Gadde Bart Jaap van Marum Jeremy Dao Chanho Kim Alan Fern 21 33 0 26 Sep 2023
Extreme Parkour with Legged Robots Xuxin Cheng Kexin Shi Ananye Agarwal Deepak Pathak 28 150 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
HEROES: Unreal Engine-based Human and Emergency Robot Operation Education System A. Chaudhary Kshitij Tiwari Aniket Bera 15 1 0 25 Sep 2023
Contrastive Initial State Buffer for Reinforcement Learning Nico Messikommer Yunlong Song Davide Scaramuzza OffRL 44 9 0 18 Sep 2023
Seeing-Eye Quadruped Navigation with Force Responsive Locomotion Control David DeFazio Eisuke Hirota Shiqi Zhang 32 7 0 08 Sep 2023
Learning Whole-body Manipulation for Quadrupedal Robot S. Jeon Moonkyu Jung Suyoung Choi Beomjoon Kim Jemin Hwangbo 18 28 0 31 Aug 2023
Dynamic deep-reinforcement-learning algorithm in Partially Observed Markov Decision Processes Saki Omi Hyo-Sang Shin Namhoon Cho Antonios Tsourdos 27 3 0 29 Jul 2023
Robust Visual Sim-to-Real Transfer for Robotic Manipulation Ricardo Garcia Pinel Robin Strudel Shizhe Chen Etienne Arlaud Ivan Laptev Cordelia Schmid OffRL 28 4 0 28 Jul 2023
SafeSteps: Learning Safer Footstep Planning Policies for Legged Robots via Model-Based Priors Shafeef Omar Lorenzo Amatucci Victor Barasuol Giulio Turrisi Claudio Semini 25 3 0 24 Jul 2023
Scientific Exploration of Challenging Planetary Analog Environments with a Team of Legged Robots Philip Arm Gabriel Waibel Jan Preisig Turcan Tuna Ruyi Zhou ... G. Ligeza Takahiro Miki F. Kehl H. Kolvenbach Marco Hutter 33 62 0 19 Jul 2023
Actor-Critic Model Predictive Control Angel Romero Yunlong Song Davide Scaramuzza 47 35 0 16 Jun 2023
Path Generation for Wheeled Robots Autonomous Navigation on Vegetated Terrain Zhu Jian Ze-Hui Liu Haoyu Shao Xueqian Wang Xinlei Chen Bin Liang 30 17 0 15 Jun 2023
RL + Model-based Control: Using On-demand Optimal Control to Learn Versatile Legged Locomotion Dong-oh Kang Jin Cheng Miguel Zamora Fatemeh Zargarbashi Stelian Coros OffRL 29 32 0 29 May 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
Regularization and Variance-Weighted Regression Achieves Minimax Optimality in Linear MDPs: Theory and Practice Toshinori Kitamura Tadashi Kozuno Yunhao Tang Nino Vieillard Michal Valko ... Olivier Pietquin M. Geist Csaba Szepesvári Wataru Kumagai Yutaka Matsuo OffRL 30 2 0 22 May 2023
Testing of Deep Reinforcement Learning Agents with Surrogate Models Matteo Biagiola Paolo Tonella 44 19 0 22 May 2023
Brain-inspired learning in artificial neural networks: a review Samuel Schmidgall Jascha Achterberg Thomas Miconi Louis Kirsch Rojin Ziaei S. P. Hajiseyedrazi Jason Eshraghian 31 52 0 18 May 2023
From Data-Fitting to Discovery: Interpreting the Neural Dynamics of Motor Control through Reinforcement Learning Eugene R. Rush Kaushik Jayaram J. Humbert 21 1 0 18 May 2023
Fast Traversability Estimation for Wild Visual Navigation Jonas Frey Matías Mattamala Nived Chebrolu Cesar Cadena Maurice F. Fallon Marco Hutter 45 63 0 15 May 2023
Off-Road Navigation of Legged Robots Using Linear Transfer Operators J. Moyalan Andrew Zheng S. Narayanan Umesh Vaidya 14 2 0 04 May 2023
Learning Terrain-Aware Kinodynamic Model for Autonomous Off-Road Rally Driving With Model Predictive Path Integral Control Ho-Woon Lee Taekyung Kim Jungwi Mun Wonsuk Lee 33 16 0 01 May 2023
Learning Agile Soccer Skills for a Bipedal Robot with Deep Reinforcement Learning Tuomas Haarnoja Ben Moran Guy Lever Sandy H. Huang Dhruva Tirumala ... Andrea Huber N. Hurley F. Nori R. Hadsell N. Heess 50 143 0 26 Apr 2023
Continuous Versatile Jumping Using Learned Action Residuals Yuxiang Yang Xiang Meng Wenhao Yu Tingnan Zhang Jie Tan Byron Boots 39 11 0 17 Apr 2023
Neural Volumetric Memory for Visual Locomotion Control Ruihan Yang Ge Yang Xiaolong Wang 23 53 0 03 Apr 2023
DribbleBot: Dynamic Legged Manipulation in the Wild Yandong Ji G. Margolis Pulkit Agrawal 34 54 0 03 Apr 2023
Visual-Policy Learning through Multi-Camera View to Single-Camera View Knowledge Distillation for Robot Manipulation Tasks C. Acar Kuluhan Binici Alp Tekirdag Yan Wu 37 1 0 13 Mar 2023
A Multiplicative Value Function for Safe and Efficient Reinforcement Learning Nick Bührer Zhejun Zhang Alexander Liniger Feng Yu Luc Van Gool 24 1 0 07 Mar 2023
Informed Guided Rapidly-Exploring Random Trees*-Connect for Path Planning of Walking Robots D. Belter 23 5 0 06 Mar 2023
ArtPlanner: Robust Legged Robot Navigation in the Field Lorenz Wellhausen Marco Hutter 33 17 0 02 Mar 2023
Heterogeneous robot teams with unified perception and autonomy: How Team CSIRO Data61 tied for the top score at the DARPA Subterranean Challenge N. Kottege Jason L. Williams Brendan Tidd Fletcher Talbot Ryan Steindl ... J. Manderson Corey Medek M. O'Brien Shengkang Chen R. Arkin 46 9 0 26 Feb 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
A Survey of Meta-Reinforcement Learning Jacob Beck Risto Vuorio E. Liu Zheng Xiong L. Zintgraf Chelsea Finn Shimon Whiteson OOD OffRL 37 122 0 19 Jan 2023
Teleoperation of Humanoid Robots: A Survey Kourosh Darvish Luigi Penco Joao Ramos Rafael Cisneros J. Pratt E. Yoshida S. Ivaldi Daniele Pucci 21 124 0 11 Jan 2023
Orbit: A Unified Simulation Framework for Interactive Robot Learning Environments Mayank Mittal C. Yu Qinxi Yu Jingzhou Liu Nikita Rudin ... Ajay Mandlekar Buck Babich Gavriel State Marco Hutter Animesh Garg 50 173 0 10 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