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CAJun: Continuous Adaptive Jumping using a Learned Centroidal Controller

16 June 2023

Yuxiang Yang

Guanya Shi

Xiang Meng

Wenhao Yu

Tingnan Zhang

Jie Tan

Byron Boots

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Papers citing "CAJun: Continuous Adaptive Jumping using a Learned Centroidal Controller"

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Title
RAMBO: RL-augmented Model-based Whole-body Control for Loco-manipulation Jin Cheng Dongho Kang Gabriele Fadini Guanya Shi Stelian Coros 76 3 0 09 Apr 2025
Incentivizing Multi-Tenant Split Federated Learning for Foundation Models at the Network Edge Songyuan Li Jia Hu Geyong Min Haojun Huang FedML 461 0 0 06 Mar 2025
A 3-Step Optimization Framework with Hybrid Models for a Humanoid Robot's Jump Motion Haoxiang Qi Zhangguo Yu Xuechao Chen Yaliang Liu Chuanku Yi Chencheng Dong Fei Meng Qiang Huang 115 0 0 22 Jan 2025
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 70 5 0 17 Sep 2024
Mastering Agile Jumping Skills from Simple Practices with Iterative Learning Control Chuong H. Nguyen Lingfan Bao Quan Nguyen 80 1 0 05 Aug 2024
OmniH2O: Universal and Dexterous Human-to-Humanoid Whole-Body Teleoperation and Learning Tairan He Zhengyi Luo Xialin He Wenli Xiao Chong Zhang Weinan Zhang Kris Kitani Changliu Liu Guanya Shi 107 91 0 13 Jun 2024
WoCoCo: Learning Whole-Body Humanoid Control with Sequential Contacts Chong Zhang Wenli Xiao Tairan He Guanya Shi 99 46 0 10 Jun 2024
Learning Generic and Dynamic Locomotion of Humanoids Across Discrete Terrains Shangqun Yu Nisal Perera Daniel Marew Donghyun Kim 73 4 0 27 May 2024
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
Learning Quadruped Locomotion Using Differentiable Simulation Yunlong Song Sangbae Kim Davide Scaramuzza 121 16 0 21 Mar 2024
Quadruped-Frog: Rapid Online Optimization of Continuous Quadruped Jumping Guillaume Bellegarda M. Shafiee Merih Ekin Özberk A. Ijspeert 74 9 0 11 Mar 2024
Learning Speed Adaptation for Flight in Clutter Guangyu Zhao Tianyue Wu Yeke Chen Fei Gao 93 7 0 07 Mar 2024
Cafe-Mpc: A Cascaded-Fidelity Model Predictive Control Framework with Tuning-Free Whole-Body Control He Li Patrick M. Wensing 110 16 0 06 Mar 2024
Agile But Safe: Learning Collision-Free High-Speed Legged Locomotion Tairan He Chong Zhang Wenli Xiao Guanqi He Changliu Liu Guanya Shi 158 71 0 31 Jan 2024
Curriculum-Based Reinforcement Learning for Quadrupedal Jumping: A Reference-free Design Vassil Atanassov Jiatao Ding Jens Kober Ioannis Havoutis Cosimo Della Santina 80 9 0 29 Jan 2024
Hierarchical Meta-learning-based Adaptive Controller Fengze Xie Guanya Shi Michael O'Connell Yisong Yue Soon-Jo Chung 62 4 0 21 Nov 2023
Learning Agile Locomotion and Adaptive Behaviors via RL-augmented MPC Lydia Y. Chen Quan Nguyen 101 10 0 13 Oct 2023
Guardians as You Fall: Active Mode Transition for Safe Falling Yikai Wang Mengdi Xu Guanya Shi Ding Zhao 75 7 0 07 Oct 2023
Deep Model Predictive Optimization Jacob Sacks Rwik Rana Kevin Huang Alex Spitzer Guanya Shi Byron Boots 91 7 0 06 Oct 2023
Generalized Animal Imitator: Agile Locomotion with Versatile Motion Prior Ruihan Yang Zhuoqun Chen Jianhan Ma Chongyi Zheng Yiyu Chen Quan Nguyen Xinze Wang 92 18 0 02 Oct 2023
Two-Stage Learning of Highly Dynamic Motions with Rigid and Articulated Soft Quadrupeds Francecso Vezzi Jiatao Ding Antonin Raffin Jens Kober Cosimo Della Santina 108 8 0 18 Sep 2023
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