Hybrid Internal Model: Learning Agile Legged Locomotion with Simulated Robot Response

18 December 2023

Papers citing "Hybrid Internal Model: Learning Agile Legged Locomotion with Simulated Robot Response"

20 / 20 papers shown

Title
GRoQ-Loco: Generalist and Robot-agnostic Quadruped Locomotion Control using Offline Datasets Narayanan PP Sarvesh Prasanth Venkatesan Srinivas Kantha Reddy Shishir Kolathaya OffRL 7 0 0 16 May 2025
MULE: Multi-terrain and Unknown Load Adaptation for Effective Quadrupedal Locomotion Vamshi Kumar Kurva Shishir Kolathaya 26 0 0 01 May 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
Transferable Latent-to-Latent Locomotion Policy for Efficient and Versatile Motion Control of Diverse Legged Robots Ziang Zheng Guojian Zhan Bin Shuai Shengtao Qin J. Li Tao Zhang Shengbo Eben Li 44 0 0 22 Mar 2025
Learning Robotic Policy with Imagined Transition: Mitigating the Trade-off between Robustness and Optimality Wei Xiao Shangke Lyu Zhefei Gong Renjie Wang Donglin Wang 46 1 0 13 Mar 2025
Think on your feet: Seamless Transition between Human-like Locomotion in Response to Changing Commands Huaxing Huang Wenhao Cui Tonghe Zhang Shengtao Li Jinchao Han ... Chenxu Hu Ning Yan Jiahao Chen Shipu Zhang Zheyuan Jiang 73 1 0 26 Feb 2025
Bridging the Sim-to-Real Gap for Athletic Loco-Manipulation Nolan Fey G. Margolis Martin Peticco Pulkit Agrawal 52 3 0 15 Feb 2025
ASAP: Aligning Simulation and Real-World Physics for Learning Agile Humanoid Whole-Body Skills Tairan He J. Gao Wenli Xiao Yuyao Zhang Zi Wang ... Jessica Hodgins Linxi Fan Yuke Zhu Changliu Liu Guanya Shi 84 11 0 03 Feb 2025
Learning Humanoid Locomotion with Perceptive Internal Model Junfeng Long Junli Ren Moji Shi Zihan Wang Tao Huang Ping Luo Jiangmiao Pang 72 19 0 21 Nov 2024
World Model-based Perception for Visual Legged Locomotion Hang Lai Jiahang Cao Jiafeng Xu Hongtao Wu Yunfeng Lin Tao Kong Yong Yu Weinan Zhang VGen 34 2 0 25 Sep 2024
PIP-Loco: A Proprioceptive Infinite Horizon Planning Framework for Quadrupedal Robot Locomotion Aditya Shirwatkar Naman Saxena Kishore Chandra Shishir Kolathaya 46 3 0 14 Sep 2024
Robust Robot Walker: Learning Agile Locomotion over Tiny Traps Shaoting Zhu Runhan Huang Linzhan Mou Hang Zhao 37 2 0 11 Sep 2024
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
GRUtopia: Dream General Robots in a City at Scale Hanqing Wang Jiahe Chen Wensi Huang Qingwei Ben Tai Wang ... Ying Zhao Zhongying Tu Yu Qiao Dahua Lin Jiangmiao Pang LM&Ro VGen 57 16 0 15 Jul 2024
Humanoid Parkour Learning Ziwen Zhuang Shenzhe Yao Hang Zhao 51 37 0 15 Jun 2024
SLR: Learning Quadruped Locomotion without Privileged Information Shiyi Chen Zeyu Wan Shiyang Yan Chun Zhang Weiyi Zhang Qiang Li Debing Zhang F. Farrukh 37 4 0 07 Jun 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
Learning H-Infinity Locomotion Control Junfeng Long Wenye Yu Quanyi Li Zirui Wang Dahua Lin Jiangmiao Pang 35 7 0 22 Apr 2024
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