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

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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 116 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 59 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 74 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 85 220 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 72 159 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 517 19,237 0 20 Jul 2017