Adversarial Motion Priors Make Good Substitutes for Complex Reward Functions

28 March 2022

Alejandro Escontrela

Xue Bin Peng

Wenhao Yu

Tingnan Zhang

Atil Iscen

Ken Goldberg

Pieter Abbeel

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Papers citing "Adversarial Motion Priors Make Good Substitutes for Complex Reward Functions"

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APEX: Action Priors Enable Efficient Exploration for Skill Imitation on Articulated Robots Shivam Sood Laukik B Nakhwa Yuhong Cao Sun Ge Guillaume Sartoretti 14 0 0 15 May 2025
MA-ROESL: Motion-aware Rapid Reward Optimization for Efficient Robot Skill Learning from Single Videos Xinyu Wang Xinming Zhang Yanjun Chen Xiaoyu Shen Wei Zhang 24 0 0 13 May 2025
Teacher Motion Priors: Enhancing Robot Locomotion over Challenging Terrain Fangcheng Jin Yuqi Wang Peixin Ma Guodong Yang Pan Zhao En Li Zhengtao Zhang 34 0 0 14 Apr 2025
Sim-to-Real of Humanoid Locomotion Policies via Joint Torque Space Perturbation Injection Woohyun Cha Junhyeok Cha Jaeyong Shin Donghyeon Kim Jaeheung Park 36 0 0 09 Apr 2025
PTRL: Prior Transfer Deep Reinforcement Learning for Legged Robots Locomotion Haodong Huang Shilong Sun Zida Zhao Hailin Huang Changqing Shen Wenfu Xu 28 0 0 08 Apr 2025
AcL: Action Learner for Fault-Tolerant Quadruped Locomotion Control Tianyu Xu Yaoyu Cheng Pinxi Shen Lin Zhao 59 0 0 27 Mar 2025
Continuous Control of Diverse Skills in Quadruped Robots Without Complete Expert Datasets Jiaxin Tu Xiaoyi Wei Yueqi Zhang Taixian Hou Xiaofei Gao Zhiyan Dong Peng Zhai Lihua Zhang 55 0 0 05 Mar 2025
Multi-Stage Manipulation with Demonstration-Augmented Reward, Policy, and World Model Learning Adrià López Escoriza Nicklas Hansen Stone Tao Tongzhou Mu H. Su OffRL 62 0 0 03 Mar 2025
Learning Quiet Walking for a Small Home Robot Ryo Watanabe Takahiro Miki Fan Shi Yuki Kadokawa Filip Bjelonic Kento Kawaharazuka Andrei Cramariuc Marco Hutter 44 1 0 16 Feb 2025
RobotMover: Learning to Move Large Objects From Human Demonstrations Tianyu Li Joanne Truong Jimmy Yang Alexander Clegg Akshara Rai Sehoon Ha Xavier Puig AI4CE 65 0 0 07 Feb 2025
Embrace Collisions: Humanoid Shadowing for Deployable Contact-Agnostics Motions Ziwen Zhuang Hang Zhao 46 6 0 03 Feb 2025
Design and Control of a Bipedal Robotic Character Ruben Grandia Espen Knoop Michael A. Hopkins Georg Wiedebach Jared Bishop Steven Pickles David Müller Moritz Bächer 50 11 0 10 Jan 2025
Reinforcement Learning from Wild Animal Videos Elliot Chane-Sane Constant Roux O. Stasse Nicolas Mansard 178 0 0 05 Dec 2024
The Role of Domain Randomization in Training Diffusion Policies for Whole-Body Humanoid Control Oleg Kaidanov Firas Al-Hafez Yusuf Suvari Boris Belousov Jan Peters 36 0 0 02 Nov 2024
Guided Reinforcement Learning for Robust Multi-Contact Loco-Manipulation Jean-Pierre Sleiman Mayank Mittal Marco Hutter 32 4 0 17 Oct 2024
State Estimation Transformers for Agile Legged Locomotion Chen Yu Yichu Yang Tianlin Liu Yangwei You Mingliang Zhou Diyun Xiang 31 1 0 17 Oct 2024
Preference Aligned Diffusion Planner for Quadrupedal Locomotion Control Xinyi Yuan Zhiwei Shang Zifan Wang Chenkai Wang Zhao Shan Zhenchao Qi Meixin Zhu Chenjia Bai Weiwei Wan Kensuke Harada 41 3 0 17 Oct 2024
E2H: A Two-Stage Non-Invasive Neural Signal Driven Humanoid Robotic Whole-Body Control Framework Yiqun Duan Qiang Zhang Jinzhao Zhou Jingkai Sun Xiaowei Jiang ... Yiqian Yang Wen Zhao Gang Han Yijie Guo Chin-Teng Lin 34 1 0 03 Oct 2024
LoopSR: Looping Sim-and-Real for Lifelong Policy Adaptation of Legged Robots Peilin Wu Weiji Xie Jiahang Cao Hang Lai Weinan Zhang 29 1 0 26 Sep 2024
World Model-based Perception for Visual Legged Locomotion Hang Lai Jiahang Cao Jiafeng Xu Hongtao Wu Yunfeng Lin Tao Kong Yong Yu Weinan Zhang VGen 34 2 0 25 Sep 2024
A Learning Framework for Diverse Legged Robot Locomotion Using Barrier-Based Style Rewards Gijeong Kim Yong-Hoon Lee Hae-Won Park 51 4 0 24 Sep 2024
Integrating Controllable Motion Skills from Demonstrations Honghao Liao Zhiheng Li Ziyu Meng Ran Song Yibin Li Wei Zhang 35 0 0 06 Aug 2024
RobotKeyframing: Learning Locomotion with High-Level Objectives via Mixture of Dense and Sparse Rewards Fatemeh Zargarbashi Jin Cheng Dongho Kang Robert Sumner Stelian Coros 113 8 0 16 Jul 2024
HiLMa-Res: A General Hierarchical Framework via Residual RL for Combining Quadrupedal Locomotion and Manipulation Xiaoyu Huang Qiayuan Liao Yiming Ni Zhongyu Li Laura Smith Sergey Levine Xue Bin Peng K. Sreenath 46 3 0 09 Jul 2024
PA-LOCO: Learning Perturbation-Adaptive Locomotion for Quadruped Robots Zhiyuan Xiao Xinyu Zhang Xiang Zhou Qingrui Zhang 34 3 0 05 Jul 2024
Learning Bipedal Walking on a Quadruped Robot via Adversarial Motion Priors Tianhu Peng Lingfan Bao Joseph Humphreys Andromachi Maria Delfaki Dimitrios Kanoulas Chengxu Zhou 40 3 0 02 Jul 2024
Open-TeleVision: Teleoperation with Immersive Active Visual Feedback Xuxin Cheng Jialong Li Shiqi Yang Ge Yang Xiaolong Wang 61 96 0 01 Jul 2024
Humanoid Parkour Learning Ziwen Zhuang Shenzhe Yao Hang Zhao 51 37 0 15 Jun 2024
RACon: Retrieval-Augmented Simulated Character Locomotion Control Yuxuan Mu Shihao Zou Kangning Yin Zheng Tian Li Cheng Weinan Zhang Jun Wang 26 0 0 11 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 47 16 0 03 Jun 2024
Geometric Fabrics: a Safe Guiding Medium for Policy Learning Karl Van Wyk Ankur Handa Viktor Makoviychuk Yijie Guo Arthur Allshire Nathan D. Ratliff 32 5 0 03 May 2024
DiffuseLoco: Real-Time Legged Locomotion Control with Diffusion from Offline Datasets Xiaoyu Huang Yufeng Chi Ruofeng Wang Zhongyu Li Xue Bin Peng Sophia Shao Borivoje Nikolic K. Sreenath OffRL 83 27 0 30 Apr 2024
Quadruped robot traversing 3D complex environments with limited perception Yi Cheng Hang Liu Guoping Pan Linqi Ye Houde Liu Bin Liang 37 7 0 28 Apr 2024
Spatio-Temporal Motion Retargeting for Quadruped Robots Taerim Yoon Dongho Kang Seungmin Kim Minsung Ahn Stelian Coros Sungjoon Choi 37 3 0 17 Apr 2024
CaT: Constraints as Terminations for Legged Locomotion Reinforcement Learning Elliot Chane-Sane Pierre-Alexandre Leziart T. Flayols O. Stasse Philippe Souères Nicolas Mansard 42 8 0 27 Mar 2024
Visual Whole-Body Control for Legged Loco-Manipulation Minghuan Liu Zixuan Chen Xuxin Cheng Yandong Ji Ri-Zhao Qiu Ruihan Yang Xiaolong Wang 53 46 0 25 Mar 2024
An Efficient Model-Based Approach on Learning Agile Motor Skills without Reinforcement Hao-bin Shi Tingguang Li Qing Zhu Jiapeng Sheng Lei Han Max Q.-H. Meng 31 1 0 04 Mar 2024
Whole-body Humanoid Robot Locomotion with Human Reference Qiang Zhang Peter Cui David Yan Jingkai Sun Yiqun Duan Arthur Zhang Renjing Xu 39 30 0 28 Feb 2024
Expressive Whole-Body Control for Humanoid Robots Xuxin Cheng Yandong Ji Junming Chen Ruihan Yang Ge Yang Xiaolong Wang 58 90 0 26 Feb 2024
Learning Highly Dynamic Behaviors for Quadrupedal Robots Chong Zhang Jiapeng Sheng Tingguang Li He Zhang Cheng Zhou Qing Zhu Rui Zhao Yizheng Zhang Lei Han 34 5 0 21 Feb 2024
Multi-Task Learning of Active Fault-Tolerant Controller for Leg Failures in Quadruped robots Tai-Wei Hou Jiaxin Tu Xiaofei Gao Zhiyan Dong Peng Zhai Lihua Zhang 28 3 0 14 Feb 2024
Reinforcement Learning for Versatile, Dynamic, and Robust Bipedal Locomotion Control Zhongyu Li Xue Bin Peng Pieter Abbeel Sergey Levine Glen Berseth K. Sreenath 27 77 0 30 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
Experience-Learning Inspired Two-Step Reward Method for Efficient Legged Locomotion Learning Towards Natural and Robust Gaits Yinghui Li Jinze Wu Xin Liu Weizhong Guo Yufei Xue 32 1 0 22 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
Hybrid Internal Model: Learning Agile Legged Locomotion with Simulated Robot Response Junfeng Long Zirui Wang Quanyi Li Jiawei Gao Liu Cao Jiangmiao Pang 63 26 0 18 Dec 2023
PhysHOI: Physics-Based Imitation of Dynamic Human-Object Interaction Yinhuai Wang Jing Lin Ailing Zeng Zhengyi Luo Jian Zhang Lei Zhang 26 35 0 07 Dec 2023
Learning Agile Bipedal Motions on a Quadrupedal Robot Yunfei Li Jinhan Li Wei Fu Yi Wu 43 9 0 10 Nov 2023
Unlock Reliable Skill Inference for Quadruped Adaptive Behavior by Skill Graph Hongyin Zhang Diyuan Shi Zifeng Zhuang Han Zhao Zhenyu Wei Feng Zhao Sibo Gai Shangke Lyu Donglin Wang 33 0 0 10 Nov 2023
Plan-Guided Reinforcement Learning for Whole-Body Manipulation Mengchao Zhang Jose Barreiros Aykut Özgün Önol 35 4 0 18 Oct 2023