Sim-to-Real Learning of Footstep-Constrained Bipedal Dynamic Walking

Sim-to-Real Learning of Footstep-Constrained Bipedal Dynamic Walking

15 March 2022

Papers citing "Sim-to-Real Learning of Footstep-Constrained Bipedal Dynamic Walking"

18 / 18 papers shown

Title
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 85 2 0 13 Sep 2024
Deep Reinforcement Learning for Bipedal Locomotion: A Brief Survey Lingfan Bao Josephine N. Humphreys Tianhu Peng Chengxu Zhou 93 9 0 25 Apr 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 108 3 0 29 Mar 2024
Blind Bipedal Stair Traversal via Sim-to-Real Reinforcement Learning J. Siekmann Kevin R. Green John Warila Alan Fern J. Hurst 63 189 0 18 May 2021
GLiDE: Generalizable Quadrupedal Locomotion in Diverse Environments with a Centroidal Model Zhaoming Xie Xingye Da Buck Babich Animesh Garg M. van de Panne 52 67 0 20 Apr 2021
Robust Feedback Motion Policy Design Using Reinforcement Learning on a 3D Digit Bipedal Robot Guillermo A. Castillo Bowen Weng Wei Zhang Ayonga Hereid 39 59 0 29 Mar 2021
Global Position Control on Underactuated Bipedal Robots: Step-to-step Dynamics Approximation for Step Planning Xiaobin Xiong Jenna Reher Aaron D. Ames 72 30 0 11 Nov 2020
Learning Task Space Actions for Bipedal Locomotion Helei Duan Jeremy Dao Kevin R. Green Taylor Apgar Alan Fern J. Hurst 41 45 0 09 Nov 2020
Learning a Centroidal Motion Planner for Legged Locomotion Julian Viereck Ludovic Righetti 68 17 0 05 Nov 2020
Sim-to-Real Learning of All Common Bipedal Gaits via Periodic Reward Composition J. Siekmann Yesh Godse Alan Fern J. Hurst 69 157 0 02 Nov 2020
DeepQ Stepper: A framework for reactive dynamic walking on uneven terrain Avadesh Meduri Majid Khadiv Ludovic Righetti 45 12 0 28 Oct 2020
Learning Spring Mass Locomotion: Guiding Policies with a Reduced-Order Model Kevin R. Green Yesh Godse Jeremy Dao Ross L. Hatton Alan Fern J. Hurst 32 43 0 21 Oct 2020
Learning a Contact-Adaptive Controller for Robust, Efficient Legged Locomotion Xingye Da Zhaoming Xie David Hoeller Byron Boots Anima Anandkumar Yuke Zhu Buck Babich Animesh Garg 48 57 0 21 Sep 2020
Learning Memory-Based Control for Human-Scale Bipedal Locomotion J. Siekmann S. Valluri Jeremy Dao Lorenzo Bermillo Helei Duan Alan Fern J. Hurst AI4CE 45 71 0 03 Jun 2020
ALLSTEPS: Curriculum-driven Learning of Stepping Stone Skills Zhaoming Xie Hung Yu Ling N. Kim M. van de Panne 147 107 0 09 May 2020
DeepGait: Planning and Control of Quadrupedal Gaits using Deep Reinforcement Learning Vassilios Tsounis Mitja Alge Joonho Lee Farbod Farshidian Marco Hutter 64 189 0 18 Sep 2019
Proximal Policy Optimization Algorithms John Schulman Filip Wolski Prafulla Dhariwal Alec Radford Oleg Klimov OffRL 487 19,019 0 20 Jul 2017
Step Timing Adjustment: A Step toward Generating Robust Gaits Majid Khadiv Alexander Herzog A. Moosavian Ludovic Righetti 57 70 0 07 Oct 2016