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
Sim-to-Real Transfer for Quadrupedal Locomotion via Terrain Transformer Hang Lai Weinan Zhang Xialin He Chen Yu Zheng Tian Yong Yu Jun Wang 24 20 0 15 Dec 2022
Navigating to Objects in the Real World Théophile Gervet Soumith Chintala Dhruv Batra Jitendra Malik Devendra Singh Chaplot 41 122 0 02 Dec 2022
Optimization-Based Control for Dynamic Legged Robots Patrick M. Wensing Michael Posa Yue Hu Adrien Escande Nicolas Mansard Andrea Del Prete 30 141 0 21 Nov 2022
Legged Locomotion in Challenging Terrains using Egocentric Vision Ananye Agarwal Ashish Kumar Jitendra Malik Deepak Pathak 34 206 0 14 Nov 2022
Distributed Data-Driven Predictive Control for Multi-Agent Collaborative Legged Locomotion Randall T. Fawcett Leila Amanzadeh Jeeseop Kim Aaron D. Ames K. Hamed 25 16 0 13 Nov 2022
Learning Visual Locomotion with Cross-Modal Supervision Antonio Loquercio Ashish Kumar Jitendra Malik SSL 30 43 0 07 Nov 2022
Learning Modular Robot Visual-motor Locomotion Policies Julian Whitman Howie Choset 26 1 0 31 Oct 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
Online Damage Recovery for Physical Robots with Hierarchical Quality-Diversity Maxime Allard Simón C. Smith Konstantinos Chatzilygeroudis Bryan Lim Antoine Cully 27 13 0 18 Oct 2022
VER: Scaling On-Policy RL Leads to the Emergence of Navigation in Embodied Rearrangement Erik Wijmans Irfan Essa Dhruv Batra OffRL 43 13 0 11 Oct 2022
Creating a Dynamic Quadrupedal Robotic Goalkeeper with Reinforcement Learning Xiaoyu Huang Zhongyu Li Yan-Ling Xiang Yiming Ni Yufeng Chi Yunhao Li Lizhi Yang Xue Bin Peng K. Sreenath 37 45 0 10 Oct 2022
Contact Optimization for Non-Prehensile Loco-Manipulation via Hierarchical Model Predictive Control Alberto Rigo Yiyu Chen S. Gupta Quan Nguyen 32 24 0 07 Oct 2022
Distributionally Adaptive Meta Reinforcement Learning Anurag Ajay Abhishek Gupta Dibya Ghosh Sergey Levine Pulkit Agrawal OOD 29 14 0 06 Oct 2022
Meta Reinforcement Learning for Optimal Design of Legged Robots Álvaro Belmonte-Baeza Joonho Lee Giorgio Valsecchi Marco Hutter 43 17 0 06 Oct 2022
Learning an Efficient Terrain Representation for Haptic Localization of a Legged Robot Damian Sójka Michał R. Nowicki Piotr Skrzypczyñski 31 4 0 29 Sep 2022
Learning Low-Frequency Motion Control for Robust and Dynamic Robot Locomotion Siddhant Gangapurwala Luigi Campanaro Ioannis Havoutis 32 12 0 29 Sep 2022
Advanced Skills by Learning Locomotion and Local Navigation End-to-End Nikita Rudin David Hoeller Marko Bjelonic Marco Hutter 80 71 0 26 Sep 2022
Learning Dexterous Manipulation from Exemplar Object Trajectories and Pre-Grasps Sudeep Dasari Abhi Gupta Vikash Kumar 52 42 0 22 Sep 2022
Recent Approaches for Perceptive Legged Locomotion Hersh Sanghvi 45 0 0 21 Sep 2022
Real-time Digital Double Framework to Predict Collapsible Terrains for Legged Robots Garen Haddeler Hari P. Palanivelu Yung Chuen Ng Fabien Colonnier A. H. Adiwahono Zhibin Li C. Chew Meng Yee Michael Chuah Chuah 31 2 0 20 Sep 2022
Learning to Exploit Elastic Actuators for Quadruped Locomotion Antonin Raffin D. Seidel Jens Kober Alin Albu-Schäffer João Silvério F. Stulp 24 5 0 15 Sep 2022
Towards Hexapod Gait Adaptation using Enumerative Encoding of Gaits: Gradient-Free Heuristics Victor Parque 13 0 0 01 Sep 2022
Perceptive Locomotion through Nonlinear Model Predictive Control R. Grandia Fabian Jenelten Shao-hua Yang Farbod Farshidian Marco Hutter 29 142 0 17 Aug 2022
Generating a Terrain-Robustness Benchmark for Legged Locomotion: A Prototype via Terrain Authoring and Active Learning Chong Zhang Lizhi Yang 30 3 0 16 Aug 2022
Planar Modeling and Sim-to-Real of a Tethered Multimaterial Soft Swimmer Driven by Peano-HASELs Stephan-Daniel Gravert M. Michelis Simon Rogler Dario Tscholl Thomas Buchner Robert K. Katzschmann 28 5 0 01 Aug 2022
PrePARE: Predictive Proprioception for Agile Failure Event Detection in Robotic Exploration of Extreme Terrains S. Dey David D. Fan Robin Schmid Anushri Dixit K. Otsu Thomas Touma Arndt F. Schilling Ali-akbar Agha-mohammadi 32 10 0 30 Jul 2022
Rethinking Sim2Real: Lower Fidelity Simulation Leads to Higher Sim2Real Transfer in Navigation Joanne Truong M. Rudolph Naoki Yokoyama Sonia Chernova Dhruv Batra Akshara Rai 29 40 0 21 Jul 2022
DayDreamer: World Models for Physical Robot Learning Philipp Wu Alejandro Escontrela Danijar Hafner Ken Goldberg Pieter Abbeel 61 277 0 28 Jun 2022
Learning Semantics-Aware Locomotion Skills from Human Demonstration Yuxiang Yang Xiang Meng Wenhao Yu Tingnan Zhang Jie Tan Byron Boots 18 12 0 27 Jun 2022
A Survey on Model-based Reinforcement Learning Fan Luo Tian Xu Hang Lai Xiong-Hui Chen Weinan Zhang Yang Yu OffRL LRM 50 101 0 19 Jun 2022
Neural Scene Representation for Locomotion on Structured Terrain David Hoeller Nikita Rudin Chris Choy Anima Anandkumar Marco Hutter 35 32 0 16 Jun 2022
TC-Driver: Trajectory Conditioned Driving for Robust Autonomous Racing -- A Reinforcement Learning Approach Edoardo Ghignone Nicolas Baumann Mike Boss Michele Magno 34 13 0 19 May 2022
Learning to Guide Multiple Heterogeneous Actors from a Single Human Demonstration via Automatic Curriculum Learning in StarCraft II Nicholas R. Waytowich James Z. Hare Vinicius G. Goecks Mark R. Mittrick John Richardson Anjon Basak Derrik E. Asher 30 2 0 11 May 2022
Marsupial Walking-and-Flying Robotic Deployment for Collaborative Exploration of Unknown Environments Paolo De Petris Shehryar Khattak M. Dharmadhikari Gabriel Waibel Huan Nguyen Markus Montenegro Nikhil Khedekar Kostas Alexis Marco Hutter 28 12 0 11 May 2022
Rapid Locomotion via Reinforcement Learning G. Margolis Ge Yang Kartik Paigwar Tao Chen Pulkit Agrawal 40 228 0 05 May 2022
Elevation Mapping for Locomotion and Navigation using GPU Takahiro Miki Lorenz Wellhausen R. Grandia Fabian Jenelten Timon Homberger Marco Hutter 36 92 0 27 Apr 2022
Hierarchical Quality-Diversity for Online Damage Recovery Maxime Allard Simón C. Smith Konstantinos Chatzilygeroudis Antoine Cully 25 12 0 12 Apr 2022
Continuous Jumping for Legged Robots on Stepping Stones via Trajectory Optimization and Model Predictive Control Chuong H. Nguyen Lingfan Bao Quan Nguyen 18 31 0 03 Apr 2022
Imitate and Repurpose: Learning Reusable Robot Movement Skills From Human and Animal Behaviors Steven Bohez S. Tunyasuvunakool Philemon Brakel Fereshteh Sadeghi Leonard Hasenclever ... Nathan Batchelor Federico Casarini J. Merel R. Hadsell N. Heess 38 51 0 31 Mar 2022
VI-IKD: High-Speed Accurate Off-Road Navigation using Learned Visual-Inertial Inverse Kinodynamics Haresh Karnan Kavan Singh Sikand P. Atreya Sadegh Rabiee Xuesu Xiao Garrett A. Warnell Peter Stone Joydeep Biswas 31 42 0 30 Mar 2022
Locomotion Policy Guided Traversability Learning using Volumetric Representations of Complex Environments Jonas Frey David Hoeller Shehryar Khattak Marco Hutter 26 53 0 29 Mar 2022
Adversarial Motion Priors Make Good Substitutes for Complex Reward Functions Alejandro Escontrela Xue Bin Peng Wenhao Yu Tingnan Zhang Atil Iscen Ken Goldberg Pieter Abbeel 20 112 0 28 Mar 2022
WayFAST: Navigation with Predictive Traversability in the Field M. V. Gasparino A. N. Sivakumar Yixiao Liu A. E. B. Velasquez V. A. H. Higuti J. Rogers Huy T. Tran Girish Chowdhary 20 55 0 22 Mar 2022
Leveraging Reward Gradients For Reinforcement Learning in Differentiable Physics Simulations Sean Gillen Katie Byl AI4CE 23 3 0 06 Mar 2022
Reactive Stepping for Humanoid Robots using Reinforcement Learning: Application to Standing Push Recovery on the Exoskeleton Atalante Alexis Duburcq Fabian Schramm Guilhem Boéris Nicolas Bredèche Y. Chevaleyre 32 8 0 02 Mar 2022
Reinforcement Learning in Practice: Opportunities and Challenges Yuxi Li OffRL 36 9 0 23 Feb 2022
Combining Learning-based Locomotion Policy with Model-based Manipulation for Legged Mobile Manipulators Yuntao Ma Farbod Farshidian Takahiro Miki Joonho Lee Marco Hutter 30 69 0 11 Jan 2022
Invariance Through Latent Alignment Takuma Yoneda Ge Yang Matthew R. Walter Bradly C. Stadie OOD 21 9 0 15 Dec 2021
Kernel-based diffusion approximated Markov decision processes for autonomous navigation and control on unstructured terrains Junhong Xu Kai-Li Yin Zheng Chen Jason M. Gregory Ethan Stump Lantao Liu 29 2 0 16 Nov 2021
Autonomous Teamed Exploration of Subterranean Environments using Legged and Aerial Robots M. Kulkarni M. Dharmadhikari Marco Tranzatto Samuel Zimmermann Victor Reijgwart ... C. Papachristos Lionel Ott Roland Siegwart Marco Hutter Kostas Alexis 40 77 0 11 Nov 2021