Not Only Rewards But Also Constraints: Applications on Legged Robot Locomotion

24 August 2023

Papers citing "Not Only Rewards But Also Constraints: Applications on Legged Robot Locomotion"

37 / 37 papers shown

Title
Dynamic Legged Ball Manipulation on Rugged Terrains with Hierarchical Reinforcement Learning Dongjie Zhu Zhuo Yang Tianhang Wu Luzhou Ge X. Li Qi Liu Xuzhao Li 29 0 0 21 Apr 2025
GenTe: Generative Real-world Terrains for General Legged Robot Locomotion Control Hanwen Wan Mengkang Li Donghao Wu Yebin Zhong Yixuan Deng Zhenglong Sun Xiaoqiang Ji 30 0 0 14 Apr 2025
Spectral Normalization for Lipschitz-Constrained Policies on Learning Humanoid Locomotion Jaeyong Shin Woohyun Cha Donghyeon Kim Junhyeok Cha Jaeheung Park 31 0 0 11 Apr 2025
TAR: Teacher-Aligned Representations via Contrastive Learning for Quadrupedal Locomotion Amr Mousa Neil Karavis Michele Caprio Wei Pan Richard Allmendinger 57 0 0 26 Mar 2025
Rule-Based Conflict-Free Decision Framework in Swarm Confrontation Zhaoqi Dong Zehua Wang Quanqi Zheng Bin Xu Lei Chen Jinhu Lv 41 0 0 10 Mar 2025
Incentivizing Multi-Tenant Split Federated Learning for Foundation Models at the Network Edge Songyuan Li Jia Hu Geyong Min Haojun Huang FedML 185 0 0 06 Mar 2025
RAPID: Robust and Agile Planner Using Inverse Reinforcement Learning for Vision-Based Drone Navigation Minwoo Kim Geunsik Bae Jinwoo Lee Woojae Shin Changseung Kim Myong-Yol Choi Heejung Shin H. Oh 81 0 0 04 Feb 2025
Reinforcement Learning from Wild Animal Videos Elliot Chane-Sane Constant Roux O. Stasse Nicolas Mansard 199 0 0 05 Dec 2024
Adversarial Constrained Policy Optimization: Improving Constrained Reinforcement Learning by Adapting Budgets Jianmina Ma Jingtian Ji Yue Gao 23 0 0 28 Oct 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
Stage-Wise Reward Shaping for Acrobatic Robots: A Constrained Multi-Objective Reinforcement Learning Approach Dohyeong Kim Hyeokjin Kwon Junseok Kim Gunmin Lee Songhwai Oh 39 6 0 24 Sep 2024
A Learning Framework for Diverse Legged Robot Locomotion Using Barrier-Based Style Rewards Gijeong Kim Yong-Hoon Lee Hae-Won Park 51 4 0 24 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
AnyBipe: An End-to-End Framework for Training and Deploying Bipedal Robots Guided by Large Language Models Yifei Yao Wentao He Chenyu Gu Jiaheng Du Fuwei Tan Zhen Zhu Junguo Lu OffRL 31 2 0 13 Sep 2024
One Policy to Run Them All: an End-to-end Learning Approach to Multi-Embodiment Locomotion Nico Bohlinger Grzegorz Czechmanowski Maciej Krupka Piotr Kicki Krzysztof Walas Jan Peters Davide Tateo 50 14 0 10 Sep 2024
MASQ: Multi-Agent Reinforcement Learning for Single Quadruped Robot Locomotion Qi Liu Jingxiang Guo Sixu Lin Shuaikang Ma Jinxuan Zhu Yanjie Li 42 1 0 25 Aug 2024
Automatic Environment Shaping is the Next Frontier in RL Younghyo Park G. Margolis Pulkit Agrawal OffRL 40 3 0 23 Jul 2024
Learning Rapid Turning, Aerial Reorientation, and Balancing using Manipulator as a Tail Insung Yang Jemin Hwangbo 36 1 0 15 Jul 2024
PA-LOCO: Learning Perturbation-Adaptive Locomotion for Quadruped Robots Zhiyuan Xiao Xinyu Zhang Xiang Zhou Qingrui Zhang 34 3 0 05 Jul 2024
Learning Semantic Traversability with Egocentric Video and Automated Annotation Strategy Yunho Kim Jeong Hyun Lee Choongin Lee Juhyeok Mun D. Youm Jeongsoo Park Jemin Hwangbo 37 1 0 05 Jun 2024
DrEureka: Language Model Guided Sim-To-Real Transfer Yecheng Jason Ma William Liang Hung-Ju Wang Sam Wang Yuke Zhu Linxi Fan Osbert Bastani Dinesh Jayaraman 77 43 0 04 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
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
Arm-Constrained Curriculum Learning for Loco-Manipulation of the Wheel-Legged Robot Zifan Wang Yufei Jia Lu Shi Haoyu Wang Haizhou Zhao Xueyang Li Jinni Zhou Jun Ma Guyue Zhou 37 6 0 25 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
Safety Filters for Black-Box Dynamical Systems by Learning Discriminating Hyperplanes Will Lavanakul Jason J. Choi K. Sreenath Claire J. Tomlin 51 13 0 07 Feb 2024
Legged Robot State Estimation With Invariant Extended Kalman Filter Using Neural Measurement Network D. Youm Hyunsik Oh Suyoung Choi Hyeongjun Kim Jemin Hwangbo 24 4 0 01 Feb 2024
Actuator-Constrained Reinforcement Learning for High-Speed Quadrupedal Locomotion Young-Ha Shin Tae-Gyu Song Gwanghyeon Ji Hae-Won Park 22 4 0 29 Dec 2023
Gradient Shaping for Multi-Constraint Safe Reinforcement Learning Yi-Fan Yao Zuxin Liu Zhepeng Cen Peide Huang Tingnan Zhang Wenhao Yu Ding Zhao OffRL 71 6 0 23 Dec 2023
Evaluation of Constrained Reinforcement Learning Algorithms for Legged Locomotion Joonho Lee Lukas Schroth Victor Klemm Marko Bjelonic Alexander Reske Marco Hutter 25 14 0 27 Sep 2023
From Knowing to Doing: Learning Diverse Motor Skills through Instruction Learning Linqi Ye Jiayi Li Yi Cheng Xianhao Wang Bin Liang Yan Peng 21 7 0 17 Sep 2023
GenLoco: Generalized Locomotion Controllers for Quadrupedal Robots Gilbert Feng Hongbo Zhang Zhongyu Li Xue Bin Peng Bhuvan Basireddy ... Zhitao Song Lizhi Yang Yunhui Liu K. Sreenath Sergey Levine 92 59 0 12 Sep 2022
TAMOLS: Terrain-Aware Motion Optimization for Legged Systems Fabian Jenelten R. Grandia Farbod Farshidian Marco Hutter 37 58 0 28 Jun 2022
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
ALLSTEPS: Curriculum-driven Learning of Stepping Stone Skills Zhaoming Xie Hung Yu Ling N. Kim M. van de Panne 112 105 0 09 May 2020
Deep Dynamics Models for Learning Dexterous Manipulation Anusha Nagabandi K. Konolige Sergey Levine Vikash Kumar 157 408 0 25 Sep 2019
Emergence of Locomotion Behaviours in Rich Environments N. Heess TB Dhruva S. Sriram Jay Lemmon J. Merel ... Tom Erez Ziyun Wang S. M. Ali Eslami Martin Riedmiller David Silver 143 928 0 07 Jul 2017