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Learning Torque Control for Quadrupedal Locomotion

10 March 2022

Papers citing "Learning Torque Control for Quadrupedal Locomotion"

26 / 26 papers shown

Title
AURA: Agentic Upskilling via Reinforced Abstractions Alvin Zhu Yusuke Tanaka Dennis W. Hong 50 0 0 03 Jun 2025
Disturbance-Aware Adaptive Compensation in Hybrid Force-Position Locomotion Policy for Legged Robots Yang Zhang Buqing Nie Zhanxiang Cao Y. Fu Yue Gao 33 0 0 31 May 2025
FACET: Force-Adaptive Control via Impedance Reference Tracking for Legged Robots Botian Xu Haoyang Weng Qingzhou Lu Yang Gao Huazhe Xu 102 0 0 11 May 2025
RAMBO: RL-augmented Model-based Whole-body Control for Loco-manipulation Jin Cheng Dongho Kang Gabriele Fadini Guanya Shi Stelian Coros 76 3 0 09 Apr 2025
HWC-Loco: A Hierarchical Whole-Body Control Approach to Robust Humanoid Locomotion Sixu Lin Guanren Qiao Yunxin Tai Ang Li Kui Jia Guiliang Liu 118 2 0 02 Mar 2025
Variable Stiffness for Robust Locomotion through Reinforcement Learning Dario Spoljaric Yashuai Yan Dongheui Lee 159 0 0 13 Feb 2025
Chance-Constrained Convex MPC for Robust Quadruped Locomotion Under Parametric and Additive Uncertainties Ananya Trivedi Sarvesh Prajapati Mark Zolotas Michael Everett Taskin Padir 81 0 0 05 Nov 2024
Full-Order Sampling-Based MPC for Torque-Level Locomotion Control via Diffusion-Style Annealing Haoru Xue Chaoyi Pan Zeji Yi Guannan Qu Guanya Shi 92 17 0 23 Sep 2024
BricksRL: A Platform for Democratizing Robotics and Reinforcement Learning Research and Education with LEGO Sebastian Dittert Vincent Moens Gianni De Fabritiis 82 1 0 25 Jun 2024
HYPERmotion: Learning Hybrid Behavior Planning for Autonomous Loco-manipulation Jin Wang Rui Dai Weijie Wang Luca Rossini Francesco Ruscelli Nikos Tsagarakis 76 5 0 20 Jun 2024
Learning-based legged locomotion; state of the art and future perspectives Sehoon Ha Joonho Lee M. van de Panne Zhaoming Xie Wenhao Yu Majid Khadiv 144 20 0 03 Jun 2024
Learning Generic and Dynamic Locomotion of Humanoids Across Discrete Terrains Shangqun Yu Nisal Perera Daniel Marew Donghyun Kim 73 4 0 27 May 2024
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 149 3 0 29 Mar 2024
CaT: Constraints as Terminations for Legged Locomotion Reinforcement Learning Elliot Chane-Sane Pierre-Alexandre Leziart T. Flayols O. Stasse Philippe Souères Nicolas Mansard 131 10 0 27 Mar 2024
Learning to Control Emulated Muscles in Real Robots: Towards Exploiting Bio-Inspired Actuator Morphology Pierre Schumacher Lorenz Krause Jan Schneider-Barnes Le Chen Georg Martius Daniel Haeufle 78 0 0 08 Feb 2024
Reinforcement Learning for Versatile, Dynamic, and Robust Bipedal Locomotion Control Zhongyu Li Xue Bin Peng Pieter Abbeel Sergey Levine Glen Berseth Koushil Sreenath 97 86 0 30 Jan 2024
Tracking Control for a Spherical Pendulum via Curriculum Reinforcement Learning Pascal Klink Florian Wolf Kai Ploeger Jan Peters Joni Pajarinen 71 0 0 25 Sep 2023
Two-Stage Learning of Highly Dynamic Motions with Rigid and Articulated Soft Quadrupeds Francecso Vezzi Jiatao Ding Antonin Raffin Jens Kober Cosimo Della Santina 104 8 0 18 Sep 2023
Efficient Reinforcement Learning for Jumping Monopods Riccardo Bussola Michele Focchi Andrea Del Prete Daniele Fontanelli Luigi Palopoli 113 3 0 13 Sep 2023
Seeing-Eye Quadruped Navigation with Force Responsive Locomotion Control David DeFazio Eisuke Hirota Shiqi Zhang 74 7 0 08 Sep 2023
End-to-End Reinforcement Learning for Torque Based Variable Height Hopping Raghav Soni Daniel Harnack Hauke Isermann Sotaro Fushimi Shivesh Kumar Frank Kirchner 72 9 0 31 Jul 2023
Adaptive Force-Based Control of Dynamic Legged Locomotion over Uneven Terrain M. Sombolestan Quan Nguyen 64 19 0 08 Jul 2023
Enhancing Efficiency of Quadrupedal Locomotion over Challenging Terrains with Extensible Feet L. Kumar Sarvesh Sortee Titas Bera Ranjan Dasgupta 40 0 0 03 May 2023
Torque-based Deep Reinforcement Learning for Task-and-Robot Agnostic Learning on Bipedal Robots Using Sim-to-Real Transfer Donghyeon Kim Glen Berseth M. Schwartz Jaeheung Park 80 21 0 19 Apr 2023
Visual CPG-RL: Learning Central Pattern Generators for Visually-Guided Quadruped Locomotion Guillaume Bellegarda M. Shafiee A. Ijspeert 98 14 0 29 Dec 2022
CPG-RL: Learning Central Pattern Generators for Quadruped Locomotion Guillaume Bellegarda A. Ijspeert 98 83 0 01 Nov 2022