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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Title
Quantifying Assistive Robustness Via the Natural-Adversarial Frontier Jerry Zhi-Yang He Zackory M. Erickson Daniel S. Brown Anca Dragan AAML 26 0 0 16 Oct 2023
Words into Action: Learning Diverse Humanoid Robot Behaviors using Language Guided Iterative Motion Refinement K. N. Kumar Irfan Essa Sehoon Ha 26 6 0 10 Oct 2023
Guardians as You Fall: Active Mode Transition for Safe Falling Yikai Wang Mengdi Xu Guanya Shi Ding Zhao 18 7 0 07 Oct 2023
HumanMimic: Learning Natural Locomotion and Transitions for Humanoid Robot via Wasserstein Adversarial Imitation Annan Tang Takuma Hiraoka Naoki Hiraoka Fan Shi Kento Kawaharazuka Kunio Kojima K. Okada Masayuki Inaba 26 26 0 25 Sep 2023
Learning to Walk and Fly with Adversarial Motion Priors Giuseppe L’Erario D. Hanover Angel Romero Yunlong Song Gabriele Nava Paolo Maria Viceconte Daniele Pucci Davide Scaramuzza 26 0 0 22 Sep 2023
Stylized Table Tennis Robots Skill Learning with Incomplete Human Demonstrations Xiangpei Zhu Zixuan Chen Jianyu Chen 13 0 0 16 Sep 2023
Not Only Rewards But Also Constraints: Applications on Legged Robot Locomotion Yunho Kim H. Oh J. Lee Jinhyeok Choi Gwanghyeon Ji Moonkyu Jung D. Youm Jemin Hwangbo 24 42 0 24 Aug 2023
Language Reward Modulation for Pretraining Reinforcement Learning Ademi Adeniji Amber Xie Carmelo Sferrazza Younggyo Seo Stephen James Pieter Abbeel 39 26 0 23 Aug 2023
Learning Terrain-Adaptive Locomotion with Agile Behaviors by Imitating Animals Tingguang Li Yizheng Zhang Chong Zhang Qing Zhu Jiapeng Sheng Wanchao Chi Cheng Zhou Lei Han 32 14 0 07 Aug 2023
Learning Multiple Gaits within Latent Space for Quadruped Robots Jinze Wu Yufei Xue Chenkun Qi 27 18 0 06 Aug 2023
Learning to Shape by Grinding: Cutting-surface-aware Model-based Reinforcement Learning Takumi Hachimine Jun Morimoto Takamitsu Matsubara 24 5 0 04 Aug 2023
Decentralized Motor Skill Learning for Complex Robotic Systems Yanjiang Guo Zheyuan Jiang Yen-Jen Wang Jingyue Gao Jianyu Chen 24 6 0 30 Jun 2023
LAGOON: Language-Guided Motion Control Shusheng Xu Huaijie Wang Jiaxuan Gao Yutao Ouyang Chao Yu Yi Wu LM&Ro 29 1 0 18 Jun 2023
Expanding Versatility of Agile Locomotion through Policy Transitions Using Latent State Representation Guilherme Christmann Ying-Sheng Luo Jonathan Hans Soeseno Wei-Chao Chen 20 2 0 14 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
Learning Robust, Agile, Natural Legged Locomotion Skills in the Wild Yikai Wang Zheyuan Jiang Jianyu Chen 19 8 0 21 Apr 2023
Learning and Adapting Agile Locomotion Skills by Transferring Experience Laura M. Smith J. Kew Tianyu Li Linda Luu Xue Bin Peng Sehoon Ha Jie Tan Sergey Levine 26 55 0 19 Apr 2023
RoboPianist: Dexterous Piano Playing with Deep Reinforcement Learning Kevin Zakka Philipp Wu Laura M. Smith Nimrod Gileadi Taylor A. Howell ... Sumeet Singh Yuval Tassa Pete Florence Andy Zeng Pieter Abbeel 16 32 0 09 Apr 2023
Learning a Single Policy for Diverse Behaviors on a Quadrupedal Robot using Scalable Motion Imitation Arnaud Klipfel Nitish Sontakke Ren Liu Sehoon Ha 30 7 0 27 Mar 2023
Residual Physics Learning and System Identification for Sim-to-real Transfer of Policies on Buoyancy Assisted Legged Robots Nitish Sontakke Hosik Chae S. Lee Tianle Huang Dennis W. Hong Sehoon Ha 34 9 0 16 Mar 2023
Robust and Versatile Bipedal Jumping Control through Reinforcement Learning Zhongyu Li Xue Bin Peng Pieter Abbeel Sergey Levine Glen Berseth K. Sreenath 43 39 0 19 Feb 2023
DreamWaQ: Learning Robust Quadrupedal Locomotion With Implicit Terrain Imagination via Deep Reinforcement Learning Aswin Nahrendra Byeong-Uk Yu Hyunsam Myung 27 84 0 25 Jan 2023
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 44 0 10 Oct 2022
OPT-Mimic: Imitation of Optimized Trajectories for Dynamic Quadruped Behaviors Yuni Fuchioka Zhaoming Xie M. van de Panne 33 41 0 03 Oct 2022
Reward Learning using Structural Motifs in Inverse Reinforcement Learning Raeid Saqur 18 2 0 25 Sep 2022
Fleet-DAgger: Interactive Robot Fleet Learning with Scalable Human Supervision Ryan Hoque L. Chen Satvik Sharma K. Dharmarajan Brijen Thananjeyan Pieter Abbeel Ken Goldberg 24 30 0 29 Jun 2022
DayDreamer: World Models for Physical Robot Learning Philipp Wu Alejandro Escontrela Danijar Hafner Ken Goldberg Pieter Abbeel 49 277 0 28 Jun 2022
Learning Agile Skills via Adversarial Imitation of Rough Partial Demonstrations Chenhao Li Marin Vlastelica Sebastian Blaes Jonas Frey F. Grimminger Georg Martius 16 63 0 23 Jun 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 35 51 0 31 Mar 2022
Learning to Walk in Minutes Using Massively Parallel Deep Reinforcement Learning Nikita Rudin David Hoeller Philipp Reist Marco Hutter 115 545 0 24 Sep 2021
Emergence of Locomotion Behaviours in Rich Environments N. Heess TB Dhruva S. Sriram Jay Lemmon J. Merel ... Tom Erez Ziyun Wang S. M. Ali Eslami Martin Riedmiller David Silver 137 928 0 07 Jul 2017