Agile But Safe: Learning Collision-Free High-Speed Legged Locomotion

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Agile But Safe: Learning Collision-Free High-Speed Legged Locomotion

31 January 2024

Changliu Liu

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Papers citing "Agile But Safe: Learning Collision-Free High-Speed Legged Locomotion"

18 / 68 papers shown

Title
Collision-Free MPC for Legged Robots in Static and Dynamic Scenes Magnus Gaertner Marko Bjelonic Farbod Farshidian Marco Hutter 49 47 0 25 Mar 2021
Learning a State Representation and Navigation in Cluttered and Dynamic Environments David Hoeller Lorenz Wellhausen Farbod Farshidian Marco Hutter SSL 60 79 0 07 Mar 2021
On State Estimation for Legged Locomotion over Soft Terrain Shamel Fahmi Geoff Fink Claudio Semini 67 19 0 06 Jan 2021
Multi-expert learning of adaptive legged locomotion Chuanyu Yang Kai Yuan Qiuguo Zhu Wanming Yu Zhibin Li 160 188 0 10 Dec 2020
RLOC: Terrain-Aware Legged Locomotion using Reinforcement Learning and Optimal Control Siddhant Gangapurwala Mathieu Geisert Romeo Orsolino Maurice F. Fallon Ioannis Havoutis 118 118 0 05 Dec 2020
DeepReach: A Deep Learning Approach to High-Dimensional Reachability Somil Bansal Claire Tomlin 93 156 0 04 Nov 2020
Recovery RL: Safe Reinforcement Learning with Learned Recovery Zones Brijen Thananjeyan Ashwin Balakrishna Suraj Nair Michael Luo K. Srinivasan M. Hwang Joseph E. Gonzalez Julian Ibarz Chelsea Finn Ken Goldberg OffRL 80 229 0 29 Oct 2020
Learning Quadrupedal Locomotion over Challenging Terrain Joonho Lee Jemin Hwangbo Lorenz Wellhausen V. Koltun Marco Hutter 139 1,176 0 21 Oct 2020
Chance-Constrained Trajectory Optimization for Safe Exploration and Learning of Nonlinear Systems Yashwanth Kumar Nakka Anqi Liu Guanya Shi Anima Anandkumar Yisong Yue Soon-Jo Chung 81 49 0 09 May 2020
End-to-End Safe Reinforcement Learning through Barrier Functions for Safety-Critical Continuous Control Tasks Richard Cheng G. Orosz R. Murray J. W. Burdick 79 624 0 21 Mar 2019
Learning agile and dynamic motor skills for legged robots Jemin Hwangbo Joonho Lee Alexey Dosovitskiy Dario Bellicoso Vassilios Tsounis V. Koltun Marco Hutter 108 1,315 0 24 Jan 2019
Frequency-Aware Model Predictive Control R. Grandia Farbod Farshidian Alexey Dosovitskiy René Ranftl Marco Hutter 60 49 0 12 Sep 2018
Reward Constrained Policy Optimization Chen Tessler D. Mankowitz Shie Mannor 83 543 0 28 May 2018
Accelerated Primal-Dual Policy Optimization for Safe Reinforcement Learning Qingkai Liang Fanyu Que E. Modiano 75 102 0 19 Feb 2018
Safe Exploration in Continuous Action Spaces Gal Dalal Krishnamurthy Dvijotham Matej Vecerík Todd Hester Cosmin Paduraru Yuval Tassa 48 441 0 26 Jan 2018
Proximal Policy Optimization Algorithms John Schulman Filip Wolski Prafulla Dhariwal Alec Radford Oleg Klimov OffRL 532 19,265 0 20 Jul 2017
Domain Randomization for Transferring Deep Neural Networks from Simulation to the Real World Joshua Tobin Rachel Fong Alex Ray Jonas Schneider Wojciech Zaremba Pieter Abbeel 259 2,972 0 20 Mar 2017
Deep Residual Learning for Image Recognition Kaiming He Xinming Zhang Shaoqing Ren Jian Sun MedIm 2.2K 194,426 0 10 Dec 2015

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