Two-Stage Learning of Highly Dynamic Motions with Rigid and Articulated
Soft Quadrupeds

Two-Stage Learning of Highly Dynamic Motions with Rigid and Articulated Soft Quadrupeds

18 September 2023

Francecso Vezzi

Cosimo Della Santina

Papers citing "Two-Stage Learning of Highly Dynamic Motions with Rigid and Articulated Soft Quadrupeds"

13 / 13 papers shown

Title
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 110 1 0 18 May 2025
CAJun: Continuous Adaptive Jumping using a Learned Centroidal Controller Yuxiang Yang Guanya Shi Xiang Meng Wenhao Yu Tingnan Zhang Jie Tan Byron Boots 59 27 0 16 Jun 2023
Learning and Adapting Agile Locomotion Skills by Transferring Experience Laura M. Smith J. Kew Tianyu Li Linda Luu Xue Bin Peng Sehoon Ha Jie Tan Sergey Levine 63 55 0 19 Apr 2023
Learning-based Design and Control for Quadrupedal Robots with Parallel-Elastic Actuators Filip Bjelonic Joonho Lee Philip Arm Dhionis V. Sako Davide Tateo Jan Peters Marco Hutter 40 26 0 09 Jan 2023
Continuous Jumping for Legged Robots on Stepping Stones via Trajectory Optimization and Model Predictive Control Chuong H. Nguyen Lingfan Bao Quan Nguyen 57 32 0 03 Apr 2022
Learning Torque Control for Quadrupedal Locomotion Shuxiao Chen Bike Zhang M. Mueller Akshara Rai Koushil Sreenath 55 39 0 10 Mar 2022
Minimizing Energy Consumption Leads to the Emergence of Gaits in Legged Robots Zipeng Fu Ashish Kumar Jitendra Malik Deepak Pathak 70 118 0 25 Oct 2021
Learning to Walk in Minutes Using Massively Parallel Deep Reinforcement Learning Nikita Rudin David Hoeller Philipp Reist Marco Hutter 240 576 0 24 Sep 2021
Model-free Reinforcement Learning for Robust Locomotion using Demonstrations from Trajectory Optimization Miroslav Bogdanovic Majid Khadiv Ludovic Righetti 170 30 0 14 Jul 2021
Learning Agile Locomotion Skills with a Mentor Atil Iscen George Yu Alejandro Escontrela Deepali Jain Jie Tan Ken Caluwaerts 53 14 0 11 Nov 2020
Dynamics Randomization Revisited:A Case Study for Quadrupedal Locomotion Zhaoming Xie Xingye Da M. van de Panne Buck Babich Animesh Garg 68 91 0 04 Nov 2020
An Introduction to Deep Reinforcement Learning Vincent François-Lavet Peter Henderson Riashat Islam Marc G. Bellemare Joelle Pineau OffRL AI4CE 131 1,257 0 30 Nov 2018
Proximal Policy Optimization Algorithms John Schulman Filip Wolski Prafulla Dhariwal Alec Radford Oleg Klimov OffRL 487 19,019 0 20 Jul 2017