Evaluation of Constrained Reinforcement Learning Algorithms for Legged
Locomotion

Evaluation of Constrained Reinforcement Learning Algorithms for Legged Locomotion

27 September 2023

Alexander Reske

Marco Hutter

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Papers citing "Evaluation of Constrained Reinforcement Learning Algorithms for Legged Locomotion"

19 / 19 papers shown

Title
A Learning Framework for Diverse Legged Robot Locomotion Using Barrier-Based Style Rewards Gijeong Kim Yong-Hoon Lee Hae-Won Park 151 6 0 24 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 96 21 0 10 Sep 2024
Nonlinear Model Predictive Control for Quadrupedal Locomotion Using Second-Order Sensitivity Analysis Dong-oh Kang Flavio De Vincenti Stelian Coros 60 11 0 21 Jul 2022
Penalized Proximal Policy Optimization for Safe Reinforcement Learning Linrui Zhang Li Shen Long Yang Shi-Yong Chen Bo Yuan Xueqian Wang Dacheng Tao 92 66 0 24 May 2022
Learning robust perceptive locomotion for quadrupedal robots in the wild Takahiro Miki Joonho Lee Jemin Hwangbo Lorenz Wellhausen V. Koltun Marco Hutter 135 713 0 20 Jan 2022
Learning to Walk in Minutes Using Massively Parallel Deep Reinforcement Learning Nikita Rudin David Hoeller Philipp Reist Marco Hutter 255 582 0 24 Sep 2021
SimGAN: Hybrid Simulator Identification for Domain Adaptation via Adversarial Reinforcement Learning Yifeng Jiang Tingnan Zhang Daniel Ho Yunfei Bai Chenxi Liu Sergey Levine Jie Tan GAN 83 56 0 15 Jan 2021
CRPO: A New Approach for Safe Reinforcement Learning with Convergence Guarantee Tengyu Xu Yingbin Liang Guanghui Lan 76 126 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 87 91 0 04 Nov 2020
Learning Quadrupedal Locomotion over Challenging Terrain Joonho Lee Jemin Hwangbo Lorenz Wellhausen V. Koltun Marco Hutter 148 1,177 0 21 Oct 2020
What Matters In On-Policy Reinforcement Learning? A Large-Scale Empirical Study Marcin Andrychowicz Anton Raichuk Piotr Stańczyk Manu Orsini Sertan Girgin ... Matthieu Geist Olivier Pietquin Marcin Michalski Sylvain Gelly Olivier Bachem OffRL 79 224 0 10 Jun 2020
IPO: Interior-point Policy Optimization under Constraints Yongshuai Liu J. Ding Xin Liu 87 182 0 21 Oct 2019
Soft Actor-Critic Algorithms and Applications Tuomas Haarnoja Aurick Zhou Kristian Hartikainen George Tucker Sehoon Ha ... Vikash Kumar Henry Zhu Abhishek Gupta Pieter Abbeel Sergey Levine 150 2,453 0 13 Dec 2018
Sim-to-Real: Learning Agile Locomotion For Quadruped Robots Jie Tan Tingnan Zhang Erwin Coumans Atil Iscen Yunfei Bai Danijar Hafner Steven Bohez Vincent Vanhoucke 94 808 0 27 Apr 2018
Accelerated Primal-Dual Policy Optimization for Safe Reinforcement Learning Qingkai Liang Fanyu Que E. Modiano 78 102 0 19 Feb 2018
Sim-to-Real Transfer of Robotic Control with Dynamics Randomization Xue Bin Peng Marcin Andrychowicz Wojciech Zaremba Pieter Abbeel 117 1,368 0 18 Oct 2017
Proximal Policy Optimization Algorithms John Schulman Filip Wolski Prafulla Dhariwal Alec Radford Oleg Klimov OffRL 568 19,296 0 20 Jul 2017
Constrained Policy Optimization Joshua Achiam David Held Aviv Tamar Pieter Abbeel 134 1,335 0 30 May 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 210 8,881 0 04 Feb 2016