Revisiting Reward Design and Evaluation for Robust Humanoid Standing and
Walking

Revisiting Reward Design and Evaluation for Robust Humanoid Standing and Walking

30 April 2024

Bart Jaap van Marum

ArXiv (abs)PDF HTML

Papers citing "Revisiting Reward Design and Evaluation for Robust Humanoid Standing and Walking"

12 / 12 papers shown

Title
G-DReaM: Graph-conditioned Diffusion Retargeting across Multiple Embodiments Zhefeng Cao Ben Liu S. Li Wei Zhang Hua Chen DiffM 86 0 0 27 May 2025
Learning Perceptive Humanoid Locomotion over Challenging Terrain Wandong Sun Baoshi Cao L. Chen Yongbo Su Yang Liu Zongwu Xie Hong Liu 107 2 0 02 Mar 2025
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 56 4 0 11 Oct 2024
Adapting Gait Frequency for Posture-regulating Humanoid Push-recovery via Hierarchical Model Predictive Control Junheng Li Zhanhao Le Junchao Ma Quan Nguyen 55 1 0 22 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 66 11 0 30 Jul 2024
Learning Vision-Based Bipedal Locomotion for Challenging Terrain Helei Duan Bikram Pandit M. S. Gadde Bart Jaap van Marum Jeremy Dao Chanho Kim Alan Fern 67 34 0 26 Sep 2023
Reinforcement Learning for Robust Parameterized Locomotion Control of Bipedal Robots Zhongyu Li Xuxin Cheng Xue Bin Peng Pieter Abbeel Sergey Levine Glen Berseth Koushil Sreenath 82 219 0 26 Mar 2021
3D Underactuated Bipedal Walking via H-LIP based Gait Synthesis and Stepping Stabilization Xiaobin Xiong Aaron D. Ames 56 79 0 23 Jan 2021
Sim-to-Real Learning of All Common Bipedal Gaits via Periodic Reward Composition J. Siekmann Yesh Godse Alan Fern J. Hurst 72 157 0 02 Nov 2020
Feedback Control of a Cassie Bipedal Robot: Walking, Standing, and Riding a Segway Yukai Gong R. Hartley Xingye Da Ayonga Hereid Omar Harib Jiunn-Kai Huang J. Grizzle 54 190 0 19 Sep 2018
Feedback Control For Cassie With Deep Reinforcement Learning Zhaoming Xie Glen Berseth Patrick Clary J. Hurst M. van de Panne 60 175 0 15 Mar 2018
Proximal Policy Optimization Algorithms John Schulman Filip Wolski Prafulla Dhariwal Alec Radford Oleg Klimov OffRL 499 19,065 0 20 Jul 2017

We use cookies and other tracking technologies to improve your browsing experience on our website, to show you personalized content and targeted ads, to analyze our website traffic, and to understand where our visitors are coming from. See our policy.