ANYmal Parkour: Learning Agile Navigation for Quadrupedal Robots

26 June 2023

Marco Hutter

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

48 / 98 papers shown

Title
SF-TIM: A Simple Framework for Enhancing Quadrupedal Robot Jumping Agility by Combining Terrain Imagination and Measurement Ze Wang Yang Li Long Xu Limalka Sadith Zunwang Ma Liel David Daniel Harari Fei Gao Muhammad Haris Khan Kaiwei Wang 31 0 0 01 Aug 2024
Automatic Environment Shaping is the Next Frontier in RL Younghyo Park G. Margolis Pulkit Agrawal OffRL 40 3 0 23 Jul 2024
RobotKeyframing: Learning Locomotion with High-Level Objectives via Mixture of Dense and Sparse Rewards Fatemeh Zargarbashi Jin Cheng Dongho Kang Robert Sumner Stelian Coros 113 8 0 16 Jul 2024
Pretraining-finetuning Framework for Efficient Co-design: A Case Study on Quadruped Robot Parkour Ci Chen Jiyu Yu Haojian Lu Hongbo Gao R. Xiong Yue Wang 54 0 0 09 Jul 2024
QuadrupedGPT: Towards a Versatile Quadruped Agent in Open-ended Worlds Ye Wang Yuting Mei Sipeng Zheng Qin Jin LRM 40 2 0 24 Jun 2024
HYPERmotion: Learning Hybrid Behavior Planning for Autonomous Loco-manipulation Jin Wang Rui Dai Weijie Wang Luca Rossini Francesco Ruscelli Nikos Tsagarakis 39 4 0 20 Jun 2024
Reinforcement Learning-Based Model Matching to Reduce the Sim-Real Gap in COBRA Adarsh Salagame Harin Kumar Nallaguntla Eric N. Sihite G. Schirner Alireza Ramezani 28 2 0 19 Jun 2024
Thruster-Assisted Incline Walking Kaushik Venkatesh Krishnamurthy Chenghao Wang Shreyansh Pitroda Adarsh Salagame Eric N. Sihite Reza Nemovi Alireza Ramezani Morteza Gharib 31 1 0 19 Jun 2024
Humanoid Parkour Learning Ziwen Zhuang Shenzhe Yao Hang Zhao 51 37 0 15 Jun 2024
WoCoCo: Learning Whole-Body Humanoid Control with Sequential Contacts Chong Zhang Wenli Xiao Tairan He Guanya Shi 42 40 0 10 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 17 0 03 Jun 2024
Gaitor: Learning a Unified Representation Across Gaits for Real-World Quadruped Locomotion Alexander L. Mitchell W. Merkt Aristotelis Papatheodorou Ioannis Havoutis Ingmar Posner 26 4 0 29 May 2024
Learning Generic and Dynamic Locomotion of Humanoids Across Discrete Terrains Shangqun Yu Nisal Perera Daniel Marew Donghyun Kim 32 3 0 27 May 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
Learning Robot Soccer from Egocentric Vision with Deep Reinforcement Learning Dhruva Tirumala Markus Wulfmeier Ben Moran Sandy Huang Jan Humplik ... Kushal Patel Marlon Gwira Francesco Nori Martin Riedmiller N. Heess 38 12 0 03 May 2024
Learning Force Control for Legged Manipulation Tifanny Portela G. Margolis Yandong Ji Pulkit Agrawal 38 16 0 02 May 2024
DiffuseLoco: Real-Time Legged Locomotion Control with Diffusion from Offline Datasets Xiaoyu Huang Yufeng Chi Ruofeng Wang Zhongyu Li Xue Bin Peng Sophia Shao Borivoje Nikolic Koushil Sreenath OffRL 83 27 0 30 Apr 2024
Quadruped robot traversing 3D complex environments with limited perception Yi Cheng Hang Liu Guoping Pan Linqi Ye Houde Liu Bin Liang 40 7 0 28 Apr 2024
TOP-Nav: Legged Navigation Integrating Terrain, Obstacle and Proprioception Estimation Junli Ren Yikai Liu Yingru Dai Junfeng Long Guijin Wang 34 3 0 23 Apr 2024
Safe Reinforcement Learning on the Constraint Manifold: Theory and Applications Puze Liu Haitham Bou-Ammar Jan Peters Davide Tateo 49 7 0 13 Apr 2024
Learning Visual Quadrupedal Loco-Manipulation from Demonstrations Zhengmao He Kun Lei Yanjie Ze Koushil Sreenath Zhongyu Li Huazhe Xu 71 13 0 29 Mar 2024
CaT: Constraints as Terminations for Legged Locomotion Reinforcement Learning Elliot Chane-Sane Pierre-Alexandre Leziart T. Flayols O. Stasse Philippe Souères Nicolas Mansard 42 8 0 27 Mar 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 44 12 0 27 Mar 2024
Cafe-Mpc: A Cascaded-Fidelity Model Predictive Control Framework with Tuning-Free Whole-Body Control He Li Patrick M. Wensing 47 13 0 06 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
Pedipulate: Enabling Manipulation Skills using a Quadruped Robot's Leg Philip Arm Mayank Mittal H. Kolvenbach Marco Hutter 29 27 0 16 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 59 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 23 8 0 29 Jan 2024
Dynamic Loco-manipulation on HECTOR: Humanoid for Enhanced ConTrol and Open-source Research Junheng Li Junchao Ma Omar Kolt Manas Shah Quan Nguyen 45 15 0 19 Dec 2023
A dynamical clipping approach with task feedback for Proximal Policy Optimization Ziqi Zhang Jingzehua Xu Zifeng Zhuang Jinxin Liu Donglin Wang Shuai Zhang 24 1 0 12 Dec 2023
Efficient, Responsive, and Robust Hopping on Deformable Terrain Daniel J. Lynch J. Pusey S. Gart P. Umbanhowar Kevin M. Lynch 14 0 0 30 Nov 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
Learning Agility and Adaptive Legged Locomotion via Curricular Hindsight Reinforcement Learning Sicen Li Yiming Pang Panju Bai Zhaojin Liu Jiawei Li Shihao Hu Liquan Wang Gang Wang 29 2 0 24 Oct 2023
Resilient Legged Local Navigation: Learning to Traverse with Compromised Perception End-to-End Jin Jin Chong Zhang Jonas Frey Nikita Rudin Matías Mattamala Cesar Cadena Marco Hutter 33 13 0 05 Oct 2023
Learning Diverse Skills for Local Navigation under Multi-constraint Optimality Jin Cheng Marin Vlastelica Pavel Kolev Chenhao Li Georg Martius 43 6 0 03 Oct 2023
Generalized Animal Imitator: Agile Locomotion with Versatile Motion Prior Ruihan Yang Zhuoqun Chen Jianhan Ma Chongyi Zheng Yiyu Chen Quan Nguyen Qing Guo 45 17 0 02 Oct 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 33 0 26 Sep 2023
Extreme Parkour with Legged Robots Xuxin Cheng Kexin Shi Ananye Agarwal Deepak Pathak 28 150 0 25 Sep 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
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 29 30 0 29 Aug 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 27 43 0 24 Aug 2023
Advanced Skills by Learning Locomotion and Local Navigation End-to-End Nikita Rudin David Hoeller Marko Bjelonic Marco Hutter 80 71 0 26 Sep 2022
TAMOLS: Terrain-Aware Motion Optimization for Legged Systems Fabian Jenelten R. Grandia Farbod Farshidian Marco Hutter 37 58 0 28 Jun 2022
Real-time Optimal Landing Control of the MIT Mini Cheetah Seungmin Jeon Sangbae Kim Donghyun Kim 43 6 0 06 Oct 2021
Learning to Walk in Minutes Using Massively Parallel Deep Reinforcement Learning Nikita Rudin David Hoeller Philipp Reist Marco Hutter 115 546 0 24 Sep 2021
Multi-expert learning of adaptive legged locomotion Chuanyu Yang Kai Yuan Qiuguo Zhu Wanming Yu Zhibin Li 111 184 0 10 Dec 2020
CAD2RL: Real Single-Image Flight without a Single Real Image Fereshteh Sadeghi Sergey Levine SSL 246 809 0 13 Nov 2016