Reinforcement Learning for Versatile, Dynamic, and Robust Bipedal Locomotion Control

30 January 2024

Papers citing "Reinforcement Learning for Versatile, Dynamic, and Robust Bipedal Locomotion Control"

29 / 29 papers shown

Title
Bracing for Impact: Robust Humanoid Push Recovery and Locomotion with Reduced Order Models Lizhi Yang Blake Werner Adrian B.Ghansah Aaron D. Ames 12 0 0 16 May 2025
HuB: Learning Extreme Humanoid Balance Tong Zhang Boyuan Zheng Ruiqian Nai Yingdong Hu Yen-Jen Wang ... Fanqi Lin Jiongye Li Chuye Hong K. Sreenath Yang Gao 28 0 0 12 May 2025
Quadrupedal Robot Skateboard Mounting via Reverse Curriculum Learning Danil Belov Artem Erkhov Elizaveta Pestova I. Osokin Dzmitry Tsetserukou Pavel Osinenko 31 0 0 10 May 2025
LangWBC: Language-directed Humanoid Whole-Body Control via End-to-end Learning Yiyang Shao Xiaoyu Huang Bike Zhang Qiayuan Liao Yuman Gao Yufeng Chi Zhongyu Li Sophia Shao K. Sreenath LM&Ro 160 0 0 30 Apr 2025
Learning Bipedal Locomotion on Gear-Driven Humanoid Robot Using Foot-Mounted IMUs Sotaro Katayama Yuta Koda Norio Nagatsuka Masaya Kinoshita 56 0 0 01 Apr 2025
Being-0: A Humanoid Robotic Agent with Vision-Language Models and Modular Skills Haoqi Yuan Yu Bai Yuhui Fu Bohan Zhou Yicheng Feng Xinrun Xu Yi Zhan Börje F. Karlsson Zongqing Lu LM&Ro 88 0 0 16 Mar 2025
Discrete-Time Hybrid Automata Learning: Legged Locomotion Meets Skateboarding Hang Liu Sangli Teng Ben Liu Wei Zhang Maani Ghaffari 72 3 0 03 Mar 2025
Learning Perceptive Humanoid Locomotion over Challenging Terrain Wandong Sun Baoshi Cao L. Chen Yongbo Su Yang Liu Zongwu Xie Hong Liu 55 1 0 02 Mar 2025
Learning Humanoid Locomotion with World Model Reconstruction Wandong Sun L. Chen Yongbo Su Baoshi Cao Yang Liu Zongwu Xie 61 1 0 22 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
DexTrack: Towards Generalizable Neural Tracking Control for Dexterous Manipulation from Human References Xueyi Liu Jianibieke Adalibieke Qianwei Han Yuzhe Qin Li Yi 74 3 0 13 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
A 3-Step Optimization Framework with Hybrid Models for a Humanoid Robot's Jump Motion Haoxiang Qi Zhangguo Yu Xuechao Chen Yaliang Liu Chuanku Yi Chencheng Dong Fei Meng Qiang Huang 76 0 0 22 Jan 2025
Learning to Hop for a Single-Legged Robot with Parallel Mechanism Hongbo Zhang X. Chu Yanlin Chen Yunxi Tang Linzhu Yue Yun-Hui Liu K. W. S. Au 39 0 0 21 Jan 2025
HOVER: Versatile Neural Whole-Body Controller for Humanoid Robots Tairan He Wenli Xiao Toru Lin Zhengyi Luo Zhenjia Xu ... Changliu Liu Guanya Shi Xiaolong Wang Linxi Fan Yuke Zhu 35 23 0 28 Oct 2024
FRASA: An End-to-End Reinforcement Learning Agent for Fall Recovery and Stand Up of Humanoid Robots Clément Gaspard Marc Duclusaud G. Passault Mélodie Daniel Olivier Ly 32 3 0 11 Oct 2024
iWalker: Imperative Visual Planning for Walking Humanoid Robot Xiao Lin Yuhao Huang Taimeng Fu Xiaobin Xiong Chen Wang 36 0 0 27 Sep 2024
CurricuLLM: Automatic Task Curricula Design for Learning Complex Robot Skills using Large Language Models Kanghyun Ryu Qiayuan Liao Zhongyu Li K. Sreenath Negar Mehr Negar Mehr LM&Ro 171 3 0 27 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
Robust Agility via Learned Zero Dynamics Policies Noel Csomay-Shanklin William D. Compton I. D. Rodriguez Eric R. Ambrose Yisong Yue Aaron D. Ames 48 1 0 10 Sep 2024
Learning Multi-Modal Whole-Body Control for Real-World Humanoid Robots Pranay Dugar Aayam Shrestha Fangzhou Yu Bart Jaap van Marum Alan Fern 34 10 0 30 Jul 2024
Efficient Recurrent Off-Policy RL Requires a Context-Encoder-Specific Learning Rate Fan Luo Zuolin Tu Zefang Huang Yang Yu OffRL 36 0 0 24 May 2024
Deep Reinforcement Learning for Bipedal Locomotion: A Brief Survey Lingfan Bao Josephine N. Humphreys Tianhu Peng Chengxu Zhou 73 5 0 25 Apr 2024
Leveraging Symmetry in RL-based Legged Locomotion Control Zhi Su Xiaoyu Huang Daniel Felipe Ordoñez Apraez Yunfei Li Zhongyu Li ... Giulio Turrisi Massimiliano Pontil Claudio Semini Yi Wu K. Sreenath 39 14 0 26 Mar 2024
Whole-body Humanoid Robot Locomotion with Human Reference Qiang Zhang Peter Cui David Yan Jingkai Sun Yiqun Duan Arthur Zhang Renjing Xu 39 30 0 28 Feb 2024
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 57 0 12 Sep 2022
Adapting Rapid Motor Adaptation for Bipedal Robots Ashish Kumar Zhongyu Li Jun Zeng Deepak Pathak K. Sreenath Jitendra Malik 52 63 0 30 May 2022
Fast Contact-Implicit Model-Predictive Control Simon Le Cleac'h Taylor A. Howell Shuo Yang Chia-Yen Lee John Z. Zhang Arun L. Bishop Mac Schwager Zachary Manchester 81 79 0 12 Jul 2021