DiffuseLoco: Real-Time Legged Locomotion Control with Diffusion from Offline Datasets

30 April 2024

Papers citing "DiffuseLoco: Real-Time Legged Locomotion Control with Diffusion from Offline Datasets"

33 / 33 papers shown

Title
APEX: Action Priors Enable Efficient Exploration for Skill Imitation on Articulated Robots Shivam Sood Laukik B Nakhwa Yuhong Cao Sun Ge Guillaume Sartoretti 14 0 0 15 May 2025
NavDP: Learning Sim-to-Real Navigation Diffusion Policy with Privileged Information Guidance Wenzhe Cai Jiaqi Peng Yuqiang Yang Y. Zhang Meng Wei Hanqing Wang Yilun Chen Tai Wang Jiangmiao Pang 23 0 0 13 May 2025
Improving Trajectory Stitching with Flow Models Reece O'Mahoney Wanming Yu Ioannis Havoutis 33 0 0 12 May 2025
Coupled Distributional Random Expert Distillation for World Model Online Imitation Learning Shangzhe Li Zhiao Huang Hao Su 66 0 0 04 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 152 0 0 30 Apr 2025
UniPhys: Unified Planner and Controller with Diffusion for Flexible Physics-Based Character Control Yongpeng Wu Korrawe Karunratanakul Zhengyi Luo Siyu Tang DiffM VGen AI4CE 50 0 0 17 Apr 2025
PTRL: Prior Transfer Deep Reinforcement Learning for Legged Robots Locomotion Haodong Huang Shilong Sun Zida Zhao Hailin Huang Changqing Shen Wenfu Xu 26 0 0 08 Apr 2025
StyleLoco: Generative Adversarial Distillation for Natural Humanoid Robot Locomotion Le Ma Ziyu Meng Tengyu Liu Y. Li Ran Song Wei Zhang Siyuan Huang 63 0 0 19 Mar 2025
Diffuse-CLoC: Guided Diffusion for Physics-based Character Look-ahead Control Xiaoyu Huang Takara Truong Yunbo Zhang Fangzhou Yu Jean-Pierre Sleiman Jessica Hodgins K. Sreenath Farbod Farshidian DiffM 60 1 0 14 Mar 2025
Diffusion-based Planning with Learned Viability Filters Nicholas Ioannidis Daniele Reda S. Cohan M. van de Panne 76 0 0 26 Feb 2025
Humanoid Whole-Body Locomotion on Narrow Terrain via Dynamic Balance and Reinforcement Learning Weiji Xie Chenjia Bai Jiyuan Shi Junkai Yang Yunfei Ge Weinan Zhang X. Li 42 1 0 24 Feb 2025
DDAT: Diffusion Policies Enforcing Dynamically Admissible Robot Trajectories Jean-Baptiste Bouvier Kanghyun Ryu Kartik Nagpal Qiayuan Liao K. Sreenath Negar Mehr 88 2 0 20 Feb 2025
Discovery of skill switching criteria for learning agile quadruped locomotion Wanming Yu Fernando Acero Vassil Atanassov Chuanyu Yang Ioannis Havoutis Dimitrios Kanoulas Zhibin Li 53 0 0 10 Feb 2025
The Role of Domain Randomization in Training Diffusion Policies for Whole-Body Humanoid Control Oleg Kaidanov Firas Al-Hafez Yusuf Suvari Boris Belousov Jan Peters 34 0 0 02 Nov 2024
Latent Weight Diffusion: Generating Policies from Trajectories Shashank Hegde G. Salhotra Gaurav Sukhatme 25 0 0 17 Oct 2024
Preference Aligned Diffusion Planner for Quadrupedal Locomotion Control Xinyi Yuan Zhiwei Shang Zifan Wang Chenkai Wang Zhao Shan Zhenchao Qi Meixin Zhu Chenjia Bai Weiwei Wan Kensuke Harada 41 3 0 17 Oct 2024
SoloParkour: Constrained Reinforcement Learning for Visual Locomotion from Privileged Experience Elliot Chane-Sane Joseph Amigo Thomas Flayols Ludovic Righetti Nicolas Mansard 54 6 0 20 Sep 2024
RP1M: A Large-Scale Motion Dataset for Piano Playing with Bi-Manual Dexterous Robot Hands Yi Zhao Le Chen Jan Schneider Quankai Gao Arno Solin Bernhard Scholkopf Joni Pajarinen Le Chen 27 1 0 20 Aug 2024
RobotKeyframing: Learning Locomotion with High-Level Objectives via Mixture of Dense and Sparse Rewards Fatemeh Zargarbashi Jin Cheng Dongho Kang Robert Sumner Stelian Coros 113 8 0 16 Jul 2024
BiRoDiff: Diffusion policies for bipedal robot locomotion on unseen terrains Gvs Mothish Manan Tayal Shishir Kolathaya 38 4 0 07 Jul 2024
PDP: Physics-Based Character Animation via Diffusion Policy Takara E. Truong Michael Piseno Zhaoming Xie C. Karen Liu VGen 51 6 0 03 Jun 2024
Diffusion-based Reinforcement Learning via Q-weighted Variational Policy Optimization Shutong Ding Ke Hu Zhenhao Zhang Kan Ren Weinan Zhang Jingyi Yu Jingya Wang Ye-ling Shi 37 7 0 25 May 2024
Humanoid Locomotion as Next Token Prediction Ilija Radosavovic Bike Zhang Baifeng Shi Jathushan Rajasegaran Sarthak Kamat Trevor Darrell K. Sreenath Jitendra Malik LM&Ro 28 61 0 29 Feb 2024
Reinforcement Learning for Versatile, Dynamic, and Robust Bipedal Locomotion Control Zhongyu Li Xue Bin Peng Pieter Abbeel Sergey Levine Glen Berseth K. Sreenath 25 76 0 30 Jan 2024
Mobile ALOHA: Learning Bimanual Mobile Manipulation with Low-Cost Whole-Body Teleoperation Zipeng Fu Tony Zhao Chelsea Finn 110 288 0 04 Jan 2024
Cal-QL: Calibrated Offline RL Pre-Training for Efficient Online Fine-Tuning Mitsuhiko Nakamoto Yuexiang Zhai Anika Singh Max Sobol Mark Yi Ma Chelsea Finn Aviral Kumar Sergey Levine OffRL OnRL 112 108 0 09 Mar 2023
DALL-E-Bot: Introducing Web-Scale Diffusion Models to Robotics Ivan Kapelyukh Vitalis Vosylius Edward Johns LM&Ro DiffM 110 145 0 05 Oct 2022
Versatile Skill Control via Self-supervised Adversarial Imitation of Unlabeled Mixed Motions Chenhao Li Sebastian Blaes Pavel Kolev Marin Vlastelica Jonas Frey Georg Martius SSL 51 29 0 16 Sep 2022
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 87 59 0 12 Sep 2022
Offline Reinforcement Learning with Implicit Q-Learning Ilya Kostrikov Ashvin Nair Sergey Levine OffRL 214 839 0 12 Oct 2021
Learning to Walk in Minutes Using Massively Parallel Deep Reinforcement Learning Nikita Rudin David Hoeller Philipp Reist Marco Hutter 115 545 0 24 Sep 2021
Offline Reinforcement Learning: Tutorial, Review, and Perspectives on Open Problems Sergey Levine Aviral Kumar George Tucker Justin Fu OffRL GP 340 1,955 0 04 May 2020
Scaling Laws for Neural Language Models Jared Kaplan Sam McCandlish T. Henighan Tom B. Brown B. Chess R. Child Scott Gray Alec Radford Jeff Wu Dario Amodei 243 4,469 0 23 Jan 2020