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Hierarchical Reinforcement Learning for Precise Soccer Shooting Skills using a Quadrupedal Robot

Hierarchical Reinforcement Learning for Precise Soccer Shooting Skills using a Quadrupedal Robot

Yandong Ji
Zhongyu Li
Yinan Sun
Xue Bin Peng
Sergey Levine
Glen Berseth
Koushil Sreenath
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Papers citing "Hierarchical Reinforcement Learning for Precise Soccer Shooting Skills using a Quadrupedal Robot"

49 / 49 papers shown
Title
Scoop-and-Toss: Dynamic Object Collection for Quadrupedal Systems
Minji Kang
Chanwoo Baek
Yoonsang Lee
113
0
0
11 Jun 2025
SkillBlender: Towards Versatile Humanoid Whole-Body Loco-Manipulation via Skill Blending
Yuxuan Kuang
Haoran Geng
Amine Elhafsi
Tan-Dzung Do
Pieter Abbeel
Jitendra Malik
Marco Pavone
Yue Wang
83
1
0
11 Jun 2025
AURA: Agentic Upskilling via Reinforced Abstractions
AURA: Agentic Upskilling via Reinforced Abstractions
Alvin Zhu
Yusuke Tanaka
Dennis W. Hong
55
0
0
03 Jun 2025
Toward Real-World Cooperative and Competitive Soccer with Quadrupedal Robot Teams
Toward Real-World Cooperative and Competitive Soccer with Quadrupedal Robot Teams
Zhi Su
Yuman Gao
Emily Lukas
Yunfei Li
Jiaze Cai
...
Fei Gao
Chao Yu
Zhongyu Li
Yi Wu
Koushil Sreenath
90
0
0
20 May 2025
Dribble Master: Learning Agile Humanoid Dribbling Through Legged Locomotion
Dribble Master: Learning Agile Humanoid Dribbling Through Legged Locomotion
Zhuoheng Wang
Jinyin Zhou
Qi Wu
102
0
0
19 May 2025
Dynamic Legged Ball Manipulation on Rugged Terrains with Hierarchical Reinforcement Learning
Dynamic Legged Ball Manipulation on Rugged Terrains with Hierarchical Reinforcement Learning
Dongjie Zhu
Zhuo Yang
Tianhang Wu
Luzhou Ge
Xiaochen Li
Qi Liu
Xuzhao Li
59
0
0
21 Apr 2025
Discrete-Time Hybrid Automata Learning: Legged Locomotion Meets Skateboarding
Discrete-Time Hybrid Automata Learning: Legged Locomotion Meets Skateboarding
Hang Liu
Sangli Teng
Ben Liu
Wei Zhang
Maani Ghaffari
124
4
0
03 Mar 2025
Bridging the Sim-to-Real Gap for Athletic Loco-Manipulation
Bridging the Sim-to-Real Gap for Athletic Loco-Manipulation
Nolan Fey
G. Margolis
Martin Peticco
Pulkit Agrawal
110
5
0
15 Feb 2025
VolleyBots: A Testbed for Multi-Drone Volleyball Game Combining Motion Control and Strategic Play
VolleyBots: A Testbed for Multi-Drone Volleyball Game Combining Motion Control and Strategic Play
Zelai Xu
Chao Yu
Chao Yu
Huining Yuan
Xiangmin Yi
...
Wenhao Tang
Yu Wang
Wenbo Ding
Xiusi Chen
Yu Wang
303
0
0
04 Feb 2025
CAIMAN: Causal Action Influence Detection for Sample-efficient Loco-manipulation
CAIMAN: Causal Action Influence Detection for Sample-efficient Loco-manipulation
Yuanchen Yuan
Jin Cheng
Núria Armengol Urpí
Stelian Coros
132
1
0
02 Feb 2025
Learning-based Trajectory Tracking for Bird-inspired Flapping-Wing Robots
Learning-based Trajectory Tracking for Bird-inspired Flapping-Wing Robots
Jiaze Cai
Vishnu Sangli
Mintae Kim
Koushil Sreenath
131
0
0
22 Nov 2024
State Estimation Transformers for Agile Legged Locomotion
State Estimation Transformers for Agile Legged Locomotion
Chen Yu
Yichu Yang
Tianlin Liu
Yangwei You
Mingliang Zhou
Diyun Xiang
79
1
0
17 Oct 2024
Learning Smooth Humanoid Locomotion through Lipschitz-Constrained Policies
Learning Smooth Humanoid Locomotion through Lipschitz-Constrained Policies
Zixuan Chen
Xialin He
Yen-Jen Wang
Qiayuan Liao
Yanjie Ze
...
S. Sastry
Jiajun Wu
Koushil Sreenath
Saurabh Gupta
Xue Bin Peng
133
19
0
15 Oct 2024
Visual Manipulation with Legs
Visual Manipulation with Legs
Xialin He
Chengjing Yuan
Wenxuan Zhou
Ruihan Yang
David Held
Xiaolong Wang
118
3
0
15 Oct 2024
Playful DoggyBot: Learning Agile and Precise Quadrupedal Locomotion
Playful DoggyBot: Learning Agile and Precise Quadrupedal Locomotion
Xin Duan
Ziwen Zhuang
Hang Zhao
Soeren Schwertfeger
123
2
0
30 Sep 2024
HiLMa-Res: A General Hierarchical Framework via Residual RL for Combining Quadrupedal Locomotion and Manipulation
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
Koushil Sreenath
73
4
0
09 Jul 2024
PA-LOCO: Learning Perturbation-Adaptive Locomotion for Quadruped Robots
PA-LOCO: Learning Perturbation-Adaptive Locomotion for Quadruped Robots
Zhiyuan Xiao
Xinyu Zhang
Xiang Zhou
Qingrui Zhang
95
6
0
05 Jul 2024
Learning Granular Media Avalanche Behavior for Indirectly Manipulating Obstacles on a Granular Slope
Learning Granular Media Avalanche Behavior for Indirectly Manipulating Obstacles on a Granular Slope
Haodi Hu
Feifei Qian
Daniel Seita
107
2
0
02 Jul 2024
Learning-based legged locomotion; state of the art and future perspectives
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
TRANSIC: Sim-to-Real Policy Transfer by Learning from Online Correction
TRANSIC: Sim-to-Real Policy Transfer by Learning from Online Correction
Yunfan Jiang
Chen Wang
Ruohan Zhang
Jiajun Wu
Fei-Fei Li
OnRL
106
27
0
16 May 2024
Long-horizon Locomotion and Manipulation on a Quadrupedal Robot with Large Language Models
Long-horizon Locomotion and Manipulation on a Quadrupedal Robot with Large Language Models
Yutao Ouyang
Jinhan Li
Yunfei Li
Zhongyu Li
Chao Yu
Koushil Sreenath
Yi Wu
136
15
0
08 Apr 2024
Learning Visual Quadrupedal Loco-Manipulation from Demonstrations
Learning Visual Quadrupedal Loco-Manipulation from Demonstrations
Zhengmao He
Kun Lei
Yanjie Ze
Koushil Sreenath
Zhongyu Li
Huazhe Xu
100
18
0
29 Mar 2024
LocoMan: Advancing Versatile Quadrupedal Dexterity with Lightweight Loco-Manipulators
LocoMan: Advancing Versatile Quadrupedal Dexterity with Lightweight Loco-Manipulators
Changyi Lin
Xingyu Liu
Yuxiang Yang
Yaru Niu
Wenhao Yu
Tingnan Zhang
Jie Tan
Byron Boots
Ding Zhao
102
16
0
27 Mar 2024
MQE: Unleashing the Power of Interaction with Multi-agent Quadruped Environment
MQE: Unleashing the Power of Interaction with Multi-agent Quadruped Environment
Ziyan Xiong
Bo Chen
Shiyu Huang
Weijuan Tu
Zhaofeng He
Yang Gao
100
5
0
24 Mar 2024
DexDribbler: Learning Dexterous Soccer Manipulation via Dynamic Supervision
DexDribbler: Learning Dexterous Soccer Manipulation via Dynamic Supervision
Yutong Hu
Kehan Wen
Fisher Yu
118
3
0
21 Mar 2024
Expressive Whole-Body Control for Humanoid Robots
Expressive Whole-Body Control for Humanoid Robots
Xuxin Cheng
Yandong Ji
Junming Chen
Ruihan Yang
Ge Yang
Xiaolong Wang
127
107
0
26 Feb 2024
Learning Highly Dynamic Behaviors for Quadrupedal Robots
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
48
6
0
21 Feb 2024
Pedipulate: Enabling Manipulation Skills using a Quadruped Robot's Leg
Pedipulate: Enabling Manipulation Skills using a Quadruped Robot's Leg
Philip Arm
Mayank Mittal
H. Kolvenbach
Marco Hutter
63
32
0
16 Feb 2024
A Multifidelity Sim-to-Real Pipeline for Verifiable and Compositional Reinforcement Learning
A Multifidelity Sim-to-Real Pipeline for Verifiable and Compositional Reinforcement Learning
Cyrus Neary
Christian Ellis
Aryaman Singh Samyal
Craig T. Lennon
Ufuk Topcu
OffRL
437
0
0
02 Dec 2023
Learning Agile Bipedal Motions on a Quadrupedal Robot
Learning Agile Bipedal Motions on a Quadrupedal Robot
Yunfei Li
Jinhan Li
Wei Fu
Yi Wu
108
10
0
10 Nov 2023
Hierarchical Optimization-based Control for Whole-body Loco-manipulation of Heavy Objects
Hierarchical Optimization-based Control for Whole-body Loco-manipulation of Heavy Objects
Alberto Rigo
Muqun Hu
Satyandra K. Gupta
Quan Nguyen
84
7
0
31 Oct 2023
Learning Agile Locomotion and Adaptive Behaviors via RL-augmented MPC
Learning Agile Locomotion and Adaptive Behaviors via RL-augmented MPC
Lydia Y. Chen
Quan Nguyen
101
10
0
13 Oct 2023
Prompt, Plan, Perform: LLM-based Humanoid Control via Quantized Imitation Learning
Prompt, Plan, Perform: LLM-based Humanoid Control via Quantized Imitation Learning
Jingkai Sun
Qiang Zhang
Yiqun Duan
Xiaoyang Jiang
Chong Cheng
Renjing Xu
LM&Ro
85
28
0
20 Sep 2023
Efficient Reinforcement Learning for Jumping Monopods
Efficient Reinforcement Learning for Jumping Monopods
Riccardo Bussola
Michele Focchi
Andrea Del Prete
Daniele Fontanelli
Luigi Palopoli
115
3
0
13 Sep 2023
Robot Parkour Learning
Robot Parkour Learning
Ziwen Zhuang
Zipeng Fu
Jianren Wang
Christopher G Atkeson
Soeren Schwertfeger
Chelsea Finn
Hang Zhao
135
162
0
11 Sep 2023
Lifelike Agility and Play in Quadrupedal Robots using Reinforcement Learning and Generative Pre-trained Models
Lifelike Agility and Play in Quadrupedal Robots using Reinforcement Learning and Generative Pre-trained Models
Lei Han
Qing Zhu
Jiapeng Sheng
Chong Zhang
Tingguang Li
...
Xiong Li
Yonghui Zhu
Lingzhu Xiang
Xiao Teng
Zhengyou Zhang
86
34
0
29 Aug 2023
Robust Quadrupedal Locomotion via Risk-Averse Policy Learning
Robust Quadrupedal Locomotion via Risk-Averse Policy Learning
Jiyuan Shi
Chenjia Bai
Haoran He
Lei Han
Dong Wang
Bin Zhao
Mingguo Zhao
Xiuyang Li
Xuelong Li
OffRLOOD
80
9
0
18 Aug 2023
Learning Agile Soccer Skills for a Bipedal Robot with Deep Reinforcement Learning
Learning Agile Soccer Skills for a Bipedal Robot with Deep Reinforcement Learning
Tuomas Haarnoja
Ben Moran
Guy Lever
Sandy H. Huang
Dhruva Tirumala
...
Andrea Huber
N. Hurley
F. Nori
R. Hadsell
N. Heess
136
153
0
26 Apr 2023
Facilitating Sim-to-real by Intrinsic Stochasticity of Real-Time Simulation in Reinforcement Learning for Robot Manipulation
Facilitating Sim-to-real by Intrinsic Stochasticity of Real-Time Simulation in Reinforcement Learning for Robot Manipulation
Ram Dershan
Amir M. Soufi Enayati
Zengjie Zhang
D. Richert
Homayoun Najjaran
86
3
0
12 Apr 2023
DribbleBot: Dynamic Legged Manipulation in the Wild
DribbleBot: Dynamic Legged Manipulation in the Wild
Yandong Ji
G. Margolis
Pulkit Agrawal
84
63
0
03 Apr 2023
Legged Robots for Object Manipulation: A Review
Legged Robots for Object Manipulation: A Review
Yifeng Gong
Ge Sun
Aditya Nair
Aditya Bidwai
C. Raghuram
John Grezmak
Guillaume Sartoretti
K. Daltorio
76
19
0
29 Mar 2023
Legs as Manipulator: Pushing Quadrupedal Agility Beyond Locomotion
Legs as Manipulator: Pushing Quadrupedal Agility Beyond Locomotion
Xuxin Cheng
Ashish Kumar
Deepak Pathak
85
62
0
20 Mar 2023
Robust and Versatile Bipedal Jumping Control through Reinforcement Learning
Robust and Versatile Bipedal Jumping Control through Reinforcement Learning
Zhongyu Li
Xue Bin Peng
Pieter Abbeel
Sergey Levine
Glen Berseth
Koushil Sreenath
98
43
0
19 Feb 2023
Optimal Control for Quadruped Locomotion using LTV MPC
Optimal Control for Quadruped Locomotion using LTV MPC
Andrew Zheng
S. Narayanan
76
2
0
10 Dec 2022
Accelerating Self-Imitation Learning from Demonstrations via Policy Constraints and Q-Ensemble
Accelerating Self-Imitation Learning from Demonstrations via Policy Constraints and Q-Ensemble
Chong Li
OffRL
67
1
0
07 Dec 2022
Real-time Trajectory Optimization and Control for Ball Bumping with Quadruped Robots
Real-time Trajectory Optimization and Control for Ball Bumping with Quadruped Robots
Qiayuan Liao
Zhefeng Cao
Hua Chen
Wei Zhang
74
0
0
11 Oct 2022
Creating a Dynamic Quadrupedal Robotic Goalkeeper with Reinforcement Learning
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
Koushil Sreenath
110
49
0
10 Oct 2022
Contact Optimization for Non-Prehensile Loco-Manipulation via Hierarchical Model Predictive Control
Contact Optimization for Non-Prehensile Loco-Manipulation via Hierarchical Model Predictive Control
Alberto Rigo
Yiyu Chen
S. Gupta
Quan Nguyen
74
24
0
07 Oct 2022
GenLoco: Generalized Locomotion Controllers for Quadrupedal Robots
GenLoco: Generalized Locomotion Controllers for Quadrupedal Robots
Gilbert Feng
Hongbo Zhang
Zhongyu Li
Xue Bin Peng
Bhuvan Basireddy
...
Zhitao Song
Lizhi Yang
Yunhui Liu
Koushil Sreenath
Sergey Levine
156
67
0
12 Sep 2022

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