ANYmal Parkour: Learning Agile Navigation for Quadrupedal Robots

26 June 2023

Marco Hutter

Papers citing "ANYmal Parkour: Learning Agile Navigation for Quadrupedal Robots"

50 / 98 papers shown

Title
Robust Reinforcement Learning-Based Locomotion for Resource-Constrained Quadrupeds with Exteroceptive Sensing Davide Plozza Patricia Apostol Paul Joseph Simon Schläpfer Michele Magno 4 0 0 18 May 2025
Learning Impact-Rich Rotational Maneuvers via Centroidal Velocity Rewards and Sim-to-Real Techniques: A One-Leg Hopper Flip Case Study Dongyun Kang Gijeong Kim JongHun Choe Hajun Kim Hae-Won Park 4 0 0 18 May 2025
GRoQ-Loco: Generalist and Robot-agnostic Quadruped Locomotion Control using Offline Datasets Narayanan PP Sarvesh Prasanth Venkatesan Srinivas Kantha Reddy Shishir Kolathaya OffRL 7 0 0 16 May 2025
Parkour in the Wild: Learning a General and Extensible Agile Locomotion Policy Using Multi-expert Distillation and RL Fine-tuning Nikita Rudin Junzhe He Joshua Aurand Marco Hutter 17 0 0 16 May 2025
Drive Fast, Learn Faster: On-Board RL for High Performance Autonomous Racing Benedict Hildisch Edoardo Ghignone Nicolas Baumann Cheng Hu Andrea Carron Michele Magno 34 0 0 12 May 2025
FACET: Force-Adaptive Control via Impedance Reference Tracking for Legged Robots Botian Xu Haoyang Weng Qingzhou Lu Yang Gao Huazhe Xu 29 0 0 11 May 2025
Visual Imitation Enables Contextual Humanoid Control Arthur Allshire Hongsuk Choi Junyi Zhang David McAllister Anthony Zhang C. Kim Trevor Darrell Pieter Abbeel Jitendra Malik Angjoo Kanazawa LM&Ro 146 0 0 06 May 2025
High-Performance Reinforcement Learning on Spot: Optimizing Simulation Parameters with Distributional Measures A. J Miller Fangzhou Yu Michael Brauckmann Farbod Farshidian OffRL BDL 23 0 0 24 Apr 2025
Offline Robotic World Model: Learning Robotic Policies without a Physics Simulator Chenhao Li Andreas Krause Marco Hutter OffRL 33 0 0 23 Apr 2025
Tactile sensing enables vertical obstacle negotiation for elongate many-legged robots Juntao He Baxi Chong Vincent R Nienhusser Massimiliano Iaschi Sehoon Ha Daniel I. Goldman 43 1 0 11 Apr 2025
Neural Fidelity Calibration for Informative Sim-to-Real Adaptation Youwei Yu Lantao Liu 37 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 32 1 0 09 Apr 2025
Holistic Fusion: Task- and Setup-Agnostic Robot Localization and State Estimation with Factor Graphs Julian Nubert Turcan Tuna Jonas Frey Cesar Cadena Katherine J. Kuchenbecker Shehryar Khattak Marco Hutter 29 3 0 08 Apr 2025
Adaptive Interactive Navigation of Quadruped Robots using Large Language Models Kangjie Zhou Yao Mu Haoyang Song Yi Zeng Pengying Wu Han Gao Chang Liu 50 0 0 29 Mar 2025
ES-Parkour: Advanced Robot Parkour with Bio-inspired Event Camera and Spiking Neural Network Qiang Zhang Jiahang Cao Jingkai Sun Yecheng Shao Gang Han Wen Zhao Yijie Guo Renjing Xu 57 0 0 13 Mar 2025
LEVA: A high-mobility logistic vehicle with legged suspension Marco Arnold Lukas Hildebrandt Kaspar Janssen Efe Ongan Pascal Bürge ... Turcan Tuna Giorgio Valsecchi Cedric Weibel Marco Hutter Michael Wütrich 48 0 0 13 Mar 2025
Distillation-PPO: A Novel Two-Stage Reinforcement Learning Framework for Humanoid Robot Perceptive Locomotion Qiang Zhang Gang Han Jingkai Sun Wen Zhao Chenghao Sun Jiahang Cao Jiaxu Wang Yijie Guo Renjing Xu 51 0 0 11 Mar 2025
MoE-Loco: Mixture of Experts for Multitask Locomotion Runhan Huang Shaoting Zhu Yilun Du Hang Zhao MoE 46 0 0 11 Mar 2025
VMTS: Vision-Assisted Teacher-Student Reinforcement Learning for Multi-Terrain Locomotion in Bipedal Robots Fu Chen Rui Wan Peidong Liu Nanxing Zheng Bo Zhou 47 0 0 10 Mar 2025
QuietPaw: Learning Quadrupedal Locomotion with Versatile Noise Preference Alignment Yuyou Zhang Yihang Yao Shiqi Liu Yaru Niu Changyi Lin Yuxiang Yang Wenhao Yu Tingnan Zhang Jie Tan Ding Zhao 48 0 0 06 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 62 1 0 06 Mar 2025
Incentivizing Multi-Tenant Split Federated Learning for Foundation Models at the Network Edge Songyuan Li Jia Hu Geyong Min Haojun Huang FedML 188 0 0 06 Mar 2025
Design of a low-cost and lightweight 6 DoF bimanual arm for dynamic and contact-rich manipulation Jaehyung Kim Jiho Kim Dongryung Lee Yujin Jang Beomjoon Kim 48 0 0 24 Feb 2025
Learning Humanoid Locomotion with World Model Reconstruction Wandong Sun L. Chen Yongbo Su Baoshi Cao Yang Liu Zongwu Xie 61 1 0 22 Feb 2025
Infinite-Horizon Value Function Approximation for Model Predictive Control Armand Jordana Sébastien Kleff Arthur Haffemayer Joaquim Ortiz de Haro Justin Carpentier Nicolas Mansard Ludovic Righetti 41 0 0 10 Feb 2025
Toward Task Generalization via Memory Augmentation in Meta-Reinforcement Learning Kaixi Bao Chenhao Li Yarden As Andreas Krause Marco Hutter OffRL CLL 119 1 0 03 Feb 2025
Embrace Collisions: Humanoid Shadowing for Deployable Contact-Agnostics Motions Ziwen Zhuang Hang Zhao 46 6 0 03 Feb 2025
CAIMAN: Causal Action Influence Detection for Sample-efficient Loco-manipulation Yuanchen Yuan Jin Cheng Núria Armengol Urpí Stelian Coros 74 1 0 02 Feb 2025
Reinforcement Learning from Wild Animal Videos Elliot Chane-Sane Constant Roux O. Stasse Nicolas Mansard 202 0 0 05 Dec 2024
Learning Humanoid Locomotion with Perceptive Internal Model Junfeng Long Junli Ren Moji Shi Zihan Wang Tao Huang Ping Luo Jiangmiao Pang 72 19 0 21 Nov 2024
QuadWBG: Generalizable Quadrupedal Whole-Body Grasping Jilong Wang Javokhirbek Rajabov Chaoyi Xu Yiming Zheng He Wang 46 1 0 11 Nov 2024
Field Insights for Portable Vine Robots in Urban Search and Rescue Ciera McFarland Ankush Dhawan Riya Kumari Chad Council Margaret M. Coad Nathaniel Hanson 21 0 0 10 Nov 2024
Eurekaverse: Environment Curriculum Generation via Large Language Models William Liang Sam Wang Hung-Ju Wang Osbert Bastani Dinesh Jayaraman Yecheng Jason Ma SyDa 38 2 0 04 Nov 2024
Local Policies Enable Zero-shot Long-horizon Manipulation Murtaza Dalal Min Liu Walter Talbott Chen Chen Deepak Pathak Jian Zhang Ruslan Salakhutdinov 44 3 0 29 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
Constrained Skill Discovery: Quadruped Locomotion with Unsupervised Reinforcement Learning Vassil Atanassov Wanming Yu Alexander L. Mitchell M. N. Finean Ioannis Havoutis SSL 29 1 0 10 Oct 2024
Obstacle-Aware Quadrupedal Locomotion With Resilient Multi-Modal Reinforcement Learning I Made Aswin Nahrendra Byeongho Yu Minho Oh Dongkyu Lee Seunghyun Lee Hyeonwoo Lee Hyungtae Lim Hyun Myung 161 2 0 29 Sep 2024
LiRA: Light-Robust Adversary for Model-based Reinforcement Learning in Real World Taisuke Kobayashi 71 2 0 29 Sep 2024
Robust Ladder Climbing with a Quadrupedal Robot Dylan Vogel Robert Baines Joseph Church Julian Lotzer Karl Werner Marco Hutter 32 4 0 26 Sep 2024
Achieving Stable High-Speed Locomotion for Humanoid Robots with Deep Reinforcement Learning Xinming Zhang Xianghui Wang Lerong Zhang Guodong Guo Xiaoyu Shen Wei Zhang 25 4 0 25 Sep 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
Learning Koopman Dynamics for Safe Legged Locomotion with Reinforcement Learning-based Controller Jeonghwan Kim Yunhai Han Harish Ravichandar Sehoon Ha 56 2 0 23 Sep 2024
SoloParkour: Constrained Reinforcement Learning for Visual Locomotion from Privileged Experience Elliot Chane-Sane Joseph Amigo Thomas Flayols Ludovic Righetti Nicolas Mansard 57 6 0 20 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
P2 Explore: Efficient Exploration in Unknown Cluttered Environment with Floor Plan Prediction Kun Song Gaoming Chen Masayoshi Tomizuka Wei Zhan Zhenhua Xiong Mingyu Ding 33 0 0 17 Sep 2024
Real-Time Whole-Body Control of Legged Robots with Model-Predictive Path Integral Control Juan Alvarez-Padilla John Z. Zhang Sofia Kwok John M. Dolan Zachary Manchester 38 4 0 16 Sep 2024
SplatSim: Zero-Shot Sim2Real Transfer of RGB Manipulation Policies Using Gaussian Splatting M. N. Qureshi Sparsh Garg Francisco Yandún David Held George Kantor Abhisesh Silwal 3DGS 42 15 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
Robust Robot Walker: Learning Agile Locomotion over Tiny Traps Shaoting Zhu Runhan Huang Linzhan Mou Hang Zhao 37 2 0 11 Sep 2024
PIE: Parkour with Implicit-Explicit Learning Framework for Legged Robots Shixin Luo Songbo Li Ruiqi Yu Zhicheng Wang Jun Wu Qiuguo Zhu 36 12 0 25 Aug 2024