Masked Sensory-Temporal Attention for Sensor Generalization in Quadruped Locomotion

13 March 2025

Papers citing "Masked Sensory-Temporal Attention for Sensor Generalization in Quadruped Locomotion"

34 / 34 papers shown

Title
Unified Locomotion Transformer with Simultaneous Sim-to-Real Transfer for Quadrupeds Dikai Liu Tianwei Zhang Jianxiong Yin Simon See OffRL 87 0 0 13 Mar 2025
Body Transformer: Leveraging Robot Embodiment for Policy Learning Carmelo Sferrazza Dun-Ming Huang Fangchen Liu Jongmin Lee Pieter Abbeel LM&Ro 68 14 0 12 Aug 2024
Humanoid Locomotion as Next Token Prediction Ilija Radosavovic Bike Zhang Baifeng Shi Jathushan Rajasegaran Sarthak Kamat Trevor Darrell Koushil Sreenath Jitendra Malik LM&Ro 66 64 0 29 Feb 2024
Mobile ALOHA: Learning Bimanual Mobile Manipulation with Low-Cost Whole-Body Teleoperation Zipeng Fu Tony Zhao Chelsea Finn 169 312 0 04 Jan 2024
ManyQuadrupeds: Learning a Single Locomotion Policy for Diverse Quadruped Robots M. Shafiee Guillaume Bellegarda A. Ijspeert 54 29 0 16 Oct 2023
Open X-Embodiment: Robotic Learning Datasets and RT-X Models Open X-Embodiment Collaboration Abby OÑeill Abdul Rehman Abhinav Gupta Abhiram Maddukuri ... Zhuo Xu Zichen Jeff Cui Zichen Zhang Zipeng Fu Zipeng Lin LM&Ro 129 499 0 13 Oct 2023
RT-2: Vision-Language-Action Models Transfer Web Knowledge to Robotic Control Anthony Brohan Noah Brown Justice Carbajal Yevgen Chebotar Xi Chen ... Ted Xiao Peng Xu Sichun Xu Tianhe Yu Brianna Zitkovich LM&Ro LRM 99 1,217 0 28 Jul 2023
Identifying Important Sensory Feedback for Learning Locomotion Skills Wanming Yu Chuanyu Yang C. McGreavy Eleftherios Triantafyllidis Guillaume Bellegarda M. Shafiee A. Ijspeert Zhibin Li 50 16 0 29 Jun 2023
SayTap: Language to Quadrupedal Locomotion Yujin Tang Wenhao Yu Jie Tan Heiga Zen Aleksandra Faust Tatsuya Harada 57 42 0 13 Jun 2023
Barkour: Benchmarking Animal-level Agility with Quadruped Robots Ken Caluwaerts Atil Iscen J. Kew Wenhao Yu Tingnan Zhang ... J. Seto Carolina Parada Vikas Sindhwani Vincent Vanhoucke Jie Tan 52 62 0 24 May 2023
DreamWaQ: Learning Robust Quadrupedal Locomotion With Implicit Terrain Imagination via Deep Reinforcement Learning Aswin Nahrendra Byeong-Uk Yu Hyunsam Myung 67 89 0 25 Jan 2023
Sim-to-Real Transfer for Quadrupedal Locomotion via Terrain Transformer Hang Lai Weinan Zhang Xialin He Chen Yu Zheng Tian Yong Yu Jun Wang 96 21 0 15 Dec 2022
RT-1: Robotics Transformer for Real-World Control at Scale Anthony Brohan Noah Brown Justice Carbajal Yevgen Chebotar Joseph Dabis ... Ted Xiao Peng Xu Sichun Xu Tianhe Yu Brianna Zitkovich LM&Ro 76 1,099 0 13 Dec 2022
Saving the Limping: Fault-tolerant Quadruped Locomotion via Reinforcement Learning Dikai Liu Tianwei Zhang Jianxiong Yin Simon See 109 6 0 02 Oct 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 Koushil Sreenath Sergey Levine 129 63 0 12 Sep 2022
On The Computational Complexity of Self-Attention Feyza Duman Keles Pruthuvi Maheshakya Wijewardena Chinmay Hegde 92 122 0 11 Sep 2022
A Generalist Agent Scott E. Reed Konrad Zolna Emilio Parisotto Sergio Gomez Colmenarejo Alexander Novikov ... Yutian Chen R. Hadsell Oriol Vinyals Mahyar Bordbar Nando de Freitas LM&Ro LLMAG AI4CE 186 810 0 12 May 2022
Rapid Locomotion via Reinforcement Learning G. Margolis Ge Yang Kartik Paigwar Tao Chen Pulkit Agrawal 94 239 0 05 May 2022
Better plain ViT baselines for ImageNet-1k Lucas Beyer Xiaohua Zhai Alexander Kolesnikov ViT VLM 57 116 0 03 May 2022
Masked Autoencoders Are Scalable Vision Learners Kaiming He Xinlei Chen Saining Xie Yanghao Li Piotr Dollár Ross B. Girshick ViT TPM 427 7,705 0 11 Nov 2021
Learning to Walk in Minutes Using Massively Parallel Deep Reinforcement Learning Nikita Rudin David Hoeller Philipp Reist Marco Hutter 235 574 0 24 Sep 2021
Isaac Gym: High Performance GPU-Based Physics Simulation For Robot Learning Viktor Makoviychuk Lukasz Wawrzyniak Yunrong Guo Michelle Lu Kier Storey ... David Hoeller Nikita Rudin Arthur Allshire Ankur Handa Gavriel State 148 1,065 0 24 Aug 2021
RMA: Rapid Motor Adaptation for Legged Robots Ashish Kumar Zipeng Fu Deepak Pathak Jitendra Malik 132 573 0 08 Jul 2021
Learning Vision-Guided Quadrupedal Locomotion End-to-End with Cross-Modal Transformers Ruihan Yang Minghao Zhang Nicklas Hansen Huazhe Xu Xiaolong Wang OffRL 40 106 0 08 Jul 2021
Offline Reinforcement Learning as One Big Sequence Modeling Problem Michael Janner Qiyang Li Sergey Levine OffRL 116 673 0 03 Jun 2021
Decision Transformer: Reinforcement Learning via Sequence Modeling Lili Chen Kevin Lu Aravind Rajeswaran Kimin Lee Aditya Grover Michael Laskin Pieter Abbeel A. Srinivas Igor Mordatch OffRL 107 1,635 0 02 Jun 2021
An Image is Worth 16x16 Words: Transformers for Image Recognition at Scale Alexey Dosovitskiy Lucas Beyer Alexander Kolesnikov Dirk Weissenborn Xiaohua Zhai ... Matthias Minderer G. Heigold Sylvain Gelly Jakob Uszkoreit N. Houlsby ViT 530 40,739 0 22 Oct 2020
Learning Quadrupedal Locomotion over Challenging Terrain Joonho Lee Jemin Hwangbo Lorenz Wellhausen V. Koltun Marco Hutter 113 1,166 0 21 Oct 2020
Learning agile and dynamic motor skills for legged robots Jemin Hwangbo Joonho Lee Alexey Dosovitskiy Dario Bellicoso Vassilios Tsounis V. Koltun Marco Hutter 103 1,304 0 24 Jan 2019
Sim-to-Real: Learning Agile Locomotion For Quadruped Robots Jie Tan Tingnan Zhang Erwin Coumans Atil Iscen Yunfei Bai Danijar Hafner Steven Bohez Vincent Vanhoucke 88 802 0 27 Apr 2018
An Empirical Evaluation of Generic Convolutional and Recurrent Networks for Sequence Modeling Shaojie Bai J. Zico Kolter V. Koltun DRL 86 4,789 0 04 Mar 2018
Proximal Policy Optimization Algorithms John Schulman Filip Wolski Prafulla Dhariwal Alec Radford Oleg Klimov OffRL 444 18,931 0 20 Jul 2017
Attention Is All You Need Ashish Vaswani Noam M. Shazeer Niki Parmar Jakob Uszkoreit Llion Jones Aidan Gomez Lukasz Kaiser Illia Polosukhin 3DV 628 130,942 0 12 Jun 2017
Empirical Evaluation of Gated Recurrent Neural Networks on Sequence Modeling Junyoung Chung Çağlar Gülçehre Kyunghyun Cho Yoshua Bengio 476 12,692 0 11 Dec 2014