Learning Risk-Aware Quadrupedal Locomotion using Distributional Reinforcement Learning

25 September 2023

Lukas Schneider

Jonas Frey

Takahiro Miki

Marco Hutter

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Papers citing "Learning Risk-Aware Quadrupedal Locomotion using Distributional Reinforcement Learning"

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Title
Return Capping: Sample-Efficient CVaR Policy Gradient Optimisation Harry Mead Clarissa Costen Bruno Lacerda Nick Hawes 97 0 0 29 Apr 2025
Learning Agile Soccer Skills for a Bipedal Robot with Deep Reinforcement Learning Tuomas Haarnoja Ben Moran Guy Lever Sandy H. Huang Dhruva Tirumala ... Andrea Huber N. Hurley F. Nori R. Hadsell N. Heess 105 150 0 26 Apr 2023
Risk-Sensitive Policy with Distributional Reinforcement Learning Thibaut Théate D. Ernst OffRL 100 6 0 30 Dec 2022
Team CERBERUS Wins the DARPA Subterranean Challenge: Technical Overview and Lessons Learned Marco Tranzatto M. Dharmadhikari Lukas Bernreiter Marco Camurri Shehryar Khattak ... M. Mueller Maurice F. Fallon Roland Siegwart Marco Hutter Kostas Alexis 36 38 0 11 Jul 2022
Learning robust perceptive locomotion for quadrupedal robots in the wild Takahiro Miki Joonho Lee Jemin Hwangbo Lorenz Wellhausen V. Koltun Marco Hutter 120 707 0 20 Jan 2022
Learning to Walk in Minutes Using Massively Parallel Deep Reinforcement Learning Nikita Rudin David Hoeller Philipp Reist Marco Hutter 237 576 0 24 Sep 2021
GMAC: A Distributional Perspective on Actor-Critic Framework D. W. Nam Younghoon Kim Chan Y. Park 42 17 0 24 May 2021
Dynamics Randomization Revisited:A Case Study for Quadrupedal Locomotion Zhaoming Xie Xingye Da M. van de Panne Buck Babich Animesh Garg 66 91 0 04 Nov 2020
Learning Quadrupedal Locomotion over Challenging Terrain Joonho Lee Jemin Hwangbo Lorenz Wellhausen V. Koltun Marco Hutter 120 1,170 0 21 Oct 2020
Autonomous Spot: Long-Range Autonomous Exploration of Extreme Environments with Legged Locomotion Amanda Bouman M. Ginting Nikhilesh Alatur M. Palieri David D. Fan ... T. Pailevanian Sung-Kyun Kim K. Otsu J. W. Burdick Ali-akbar Agha-mohammadi 142 129 0 19 Oct 2020
Controlling Overestimation Bias with Truncated Mixture of Continuous Distributional Quantile Critics Arsenii Kuznetsov Pavel Shvechikov Alexander Grishin Dmitry Vetrov 228 192 0 08 May 2020
DSAC: Distributional Soft Actor Critic for Risk-Sensitive Reinforcement Learning Xiaoteng Ma Li Xia Zhengyuan Zhou Jun Yang Qianchuan Zhao 57 17 0 30 Apr 2020
Fully Parameterized Quantile Function for Distributional Reinforcement Learning Derek Yang Li Zhao Zichuan Lin Tao Qin Jiang Bian Tie-Yan Liu OOD OffRL 59 136 0 05 Nov 2019
Quantile QT-Opt for Risk-Aware Vision-Based Robotic Grasping Cristian Bodnar A. Li Karol Hausman P. Pastor Mrinal Kalakrishnan OffRL 42 52 0 01 Oct 2019
Distributional Reinforcement Learning for Efficient Exploration B. Mavrin Shangtong Zhang Hengshuai Yao Linglong Kong Kaiwen Wu Yaoliang Yu OOD OffRL 47 87 0 13 May 2019
Statistics and Samples in Distributional Reinforcement Learning Mark Rowland Robert Dadashi Saurabh Kumar Rémi Munos Marc G. Bellemare Will Dabney OffRL 51 89 0 21 Feb 2019
Implicit Quantile Networks for Distributional Reinforcement Learning Will Dabney Georg Ostrovski David Silver Rémi Munos OffRL 129 532 0 14 Jun 2018
Distributional Reinforcement Learning with Quantile Regression Will Dabney Mark Rowland Marc G. Bellemare Rémi Munos 90 759 0 27 Oct 2017
Proximal Policy Optimization Algorithms John Schulman Filip Wolski Prafulla Dhariwal Alec Radford Oleg Klimov OffRL 468 19,006 0 20 Jul 2017
Asynchronous Methods for Deep Reinforcement Learning Volodymyr Mnih Adria Puigdomenech Badia M. Berk Mirza Alex Graves Timothy Lillicrap Tim Harley David Silver Koray Kavukcuoglu 191 8,850 0 04 Feb 2016
Continuous control with deep reinforcement learning Timothy Lillicrap Jonathan J. Hunt Alexander Pritzel N. Heess Tom Erez Yuval Tassa David Silver Daan Wierstra 318 13,234 0 09 Sep 2015