Perceptive Locomotion through Nonlinear Model Predictive Control

17 August 2022

Marco Hutter

Papers citing "Perceptive Locomotion through Nonlinear Model Predictive Control"

50 / 75 papers shown

Title
Riemannian Direct Trajectory Optimization of Rigid Bodies on Matrix Lie Groups Sangli Teng Tzu-Yuan Lin William Clark Ram Vasudevan Maani Ghaffari AI4CE 42 0 0 05 May 2025
Simultaneous Collision Detection and Force Estimation for Dynamic Quadrupedal Locomotion Ziyi Zhou Stefano Di Cairano Yebin Wang K. Berntorp 49 0 0 24 Apr 2025
Adversarial Locomotion and Motion Imitation for Humanoid Policy Learning Jiyuan Shi Xinzhe Liu Dewei Wang Ouyang Lu Sören Schwertfeger Fuchun Sun Chenjia Bai X. Li 47 0 0 19 Apr 2025
Magnecko: Design and Control of a Quadrupedal Magnetic Climbing Robot Stefan Leuthard Timo Eugster Nicolas Faesch Riccardo Feingold Connor Flynn ... Markus Montenegro Valerio Schelbert Jia-Ruei Chiu Philip Arm Marco Hutter 31 0 0 18 Apr 2025
Interior Point Differential Dynamic Programming, Redux Ming Xu Stephen Gould Iman Shames 23 0 0 11 Apr 2025
RAMBO: RL-augmented Model-based Optimal Control for Whole-body Loco-manipulation Jin Cheng Dongho Kang Gabriele Fadini Guanya Shi Stelian Coros 30 1 0 09 Apr 2025
MUSE: A Real-Time Multi-Sensor State Estimator for Quadruped Robots Ylenia Nisticò J. C. V. Soares Lorenzo Amatucci Geoff Fink Claudio Semini 46 1 0 15 Mar 2025
Whole-Body Model-Predictive Control of Legged Robots with MuJoCo John Z. Zhang Taylor A. Howell Zeji Yi Chaoyi Pan Guanya Shi Guannan Qu Tom Erez Yuval Tassa Zachary Manchester 56 1 0 06 Mar 2025
Discrete-Time Hybrid Automata Learning: Legged Locomotion Meets Skateboarding Hang Liu Sangli Teng Ben Liu Wei Zhang Maani Ghaffari 72 3 0 03 Mar 2025
Legged Robot State Estimation Using Invariant Neural-Augmented Kalman Filter with a Neural Compensator Seokju Lee Hyun-Bin Kim Kyung-soo Kim 31 0 0 01 Mar 2025
Humanoid Whole-Body Locomotion on Narrow Terrain via Dynamic Balance and Reinforcement Learning Weiji Xie Chenjia Bai Jiyuan Shi Junkai Yang Yunfei Ge Weinan Zhang X. Li 44 1 0 24 Feb 2025
Bezier Reachable Polytopes: Efficient Certificates for Robust Motion Planning with Layered Architectures Noel Csomay-Shanklin Aaron D. Ames 64 0 0 20 Nov 2024
Traversability-Aware Legged Navigation by Learning from Real-World Visual Data Hongbo Zhang Zhongyu Li Xuanqi Zeng Laura Smith Kyle Stachowicz ... Zhitao Song Weipeng Xia Sergey Levine K. Sreenath Yun-hui Liu 36 2 0 14 Oct 2024
Walking with Terrain Reconstruction: Learning to Traverse Risky Sparse Footholds Ruiqi Yu Qianshi Wang Yizhen Wang Zhicheng Wang Jun Wu Qiuguo Zhu 32 2 0 24 Sep 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 43 14 0 23 Sep 2024
Galileo: A Pseudospectral Collocation Framework for Legged Robots Ethan Chandler Akshay Jaitly Mahdi Agheli 23 0 0 19 Sep 2024
Bilevel Optimization for Real-Time Control with Application to Locomotion Gait Generation Zachary Olkin Aaron D. Ames 34 1 0 18 Sep 2024
Agile Continuous Jumping in Discontinuous Terrains Yuxiang Yang Guanya Shi Changyi Lin Xiangyun Meng Rosario Scalise ... Wenhao Yu Tingnan Zhang Ding Zhao Jie Tan Byron Boots 24 2 0 17 Sep 2024
Robots with Attitude: Singularity-Free Quaternion-Based Model-Predictive Control for Agile Legged Robots Zixin Zhang John Z. Zhang Shuo Yang Zachary Manchester 26 2 0 16 Sep 2024
PIP-Loco: A Proprioceptive Infinite Horizon Planning Framework for Quadrupedal Robot Locomotion Aditya Shirwatkar Naman Saxena Kishore Chandra Shishir Kolathaya 46 3 0 14 Sep 2024
Probabilistic Homotopy Optimization for Dynamic Motion Planning Shayan Pardis Matthew Chignoli Sangbae Kim 38 0 0 22 Aug 2024
CusADi: A GPU Parallelization Framework for Symbolic Expressions and Optimal Control Se Hwan Jeon Seungwoo Hong Ho Jae Lee Charles Khazoom Sangbae Kim 28 3 0 19 Aug 2024
Non-Gaited Legged Locomotion with Monte-Carlo Tree Search and Supervised Learning Ilyass Taouil Lorenzo Amatucci Majid Khadiv Angela Dai Victor Barasuol Giulio Turrisi Claudio Semini 39 0 0 14 Aug 2024
Integrating Model-Based Footstep Planning with Model-Free Reinforcement Learning for Dynamic Legged Locomotion Ho Jae Lee Seungwoo Hong Sangbae Kim 26 2 0 05 Aug 2024
Optimal Gait Design for a Soft Quadruped Robot via Multi-fidelity Bayesian Optimization Kaige Tan Xuezhi Niu Qinglei Ji Lei Feng Martin Törngren 41 1 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
Rethinking Robustness Assessment: Adversarial Attacks on Learning-based Quadrupedal Locomotion Controllers Fan Shi Chong Zhang Takahiro Miki Joonho Lee Marco Hutter Stelian Coros AAML 51 12 0 21 May 2024
CDM-MPC: An Integrated Dynamic Planning and Control Framework for Bipedal Robots Jumping Zhicheng He Jiayang Wu Jingwen Zhang Shibowen Zhang Yapeng Shi Hangxin Liu Lining Sun Yao Su Xiaokun Leng 41 10 0 20 May 2024
Closing the Perception-Action Loop for Semantically Safe Navigation in Semi-Static Environments Jingxing Qian Siqi Zhou Nicholas Jianrui Ren Veronica Chatrath Angela P. Schoellig 36 0 0 22 Apr 2024
Hybrid Dynamics Modeling and Trajectory Planning for a Cable-Trailer System with a Quadruped Robot Wentao Zhang Shaohang Xu Gewei Zuo Lijun Zhu 35 0 0 18 Apr 2024
Learning Visual Quadrupedal Loco-Manipulation from Demonstrations Zhengmao He Kun Lei Yanjie Ze K. Sreenath Zhongyu Li Huazhe Xu 71 12 0 29 Mar 2024
Learning Quadruped Locomotion Using Differentiable Simulation Yunlong Song Sangbae Kim Davide Scaramuzza 40 11 0 21 Mar 2024
Accelerating Model Predictive Control for Legged Robots through Distributed Optimization Lorenzo Amatucci Giulio Turrisi Angelo Bratta Victor Barasuol Claudio Semini 26 6 0 18 Mar 2024
On the Benefits of GPU Sample-Based Stochastic Predictive Controllers for Legged Locomotion Giulio Turrisi Valerio Modugno Lorenzo Amatucci Dimitrios Kanoulas Claudio Semini 42 1 0 18 Mar 2024
Agile and Safe Trajectory Planning for Quadruped Navigation with Motion Anisotropy Awareness Wentao Zhang Shaohang Xu Peiyuan Cai Lijun Zhu 16 0 0 15 Mar 2024
Control-Barrier-Aided Teleoperation with Visual-Inertial SLAM for Safe MAV Navigation in Complex Environments Siqi Zhou Sotiris Papatheodorou Stefan Leutenegger Angela P. Schoellig 16 2 0 07 Mar 2024
Learning to walk in confined spaces using 3D representation Takahiro Miki Joonho Lee Lorenz Wellhausen Marco Hutter 40 19 0 29 Feb 2024
Agile But Safe: Learning Collision-Free High-Speed Legged Locomotion Tairan He Chong Zhang Wenli Xiao Guanqi He Changliu Liu Guanya Shi 47 58 0 31 Jan 2024
Versatile Telescopic-Wheeled-Legged Locomotion of Tachyon 3 via Full-Centroidal Nonlinear Model Predictive Control Sotaro Katayama Noriaki Takasugi Mitsuhisa Kaneko Masaya Kinoshita 25 1 0 14 Dec 2023
Safety-critical Control of Quadrupedal Robots with Rolling Arms for Autonomous Inspection of Complex Environments Jaemin Lee Jeeseop Kim Wyatt Ubellacker Tamás G. Molnár Aaron D. Ames 28 2 0 12 Dec 2023
Multi-Resolution Planar Region Extraction for Uneven Terrains Yinghan Sun Linfang Zheng Hua Chen Wei Zhang 3DV 19 0 0 21 Nov 2023
Learning Agile Locomotion on Risky Terrains Chong Zhang Nikita Rudin David Hoeller Marco Hutter 22 20 0 17 Nov 2023
Hierarchical Experience-informed Navigation for Multi-modal Quadrupedal Rebar Grid Traversal M. Asselmeier Jane Ivanova Ziyi Zhou Patricio A. Vela Ye Zhao 24 4 0 14 Nov 2023
Real-time Perceptive Motion Control using Control Barrier Functions with Analytical Smoothing for Six-Wheeled-Telescopic-Legged Robot Tachyon 3 Noriaki Takasugi Masaya Kinoshita Yasuhisa Kamikawa Ryoichi Tsuzaki Atsushi Sakamoto Toshimitsu Kai Yasunori Kawanami 18 5 0 18 Oct 2023
Learning Agile Locomotion and Adaptive Behaviors via RL-augmented MPC Lydia Y. Chen Quan Nguyen 23 9 0 13 Oct 2023
SYNLOCO: Synthesizing Central Pattern Generator and Reinforcement Learning for Quadruped Locomotion Xinyu Zhang Zhiyuan Xiao Qingrui Zhang Wei Pan 29 5 0 10 Oct 2023
DTC: Deep Tracking Control Fabian Jenelten Junzhe He Farbod Farshidian Marco Hutter 24 73 0 27 Sep 2023
Learning Vision-Based Bipedal Locomotion for Challenging Terrain Helei Duan Bikram Pandit M. S. Gadde Bart Jaap van Marum Jeremy Dao Chanho Kim Alan Fern 21 32 0 26 Sep 2023
Bipedal Walking on Constrained Footholds with MPC Footstep Control Brian Acosta Michael Posa 40 10 0 14 Sep 2023
A Unified Perspective on Multiple Shooting In Differential Dynamic Programming He Li Wenhao Yu Tingnan Zhang Patrick M. Wensing 24 12 0 14 Sep 2023