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HWC-Loco: A Hierarchical Whole-Body Control Approach to Robust Humanoid Locomotion

2 March 2025

Papers citing "HWC-Loco: A Hierarchical Whole-Body Control Approach to Robust Humanoid Locomotion"

50 / 53 papers shown

Title
TWIST: Teleoperated Whole-Body Imitation System Yanjie Ze Zixuan Chen Joao Pedro Araujo Zi-ang Cao Xue Bin Peng Jiajun Wu Chao Liu 79 3 0 05 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
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 Xiaochen Li 96 4 0 24 Feb 2025
ASAP: Aligning Simulation and Real-World Physics for Learning Agile Humanoid Whole-Body Skills Tairan He J. Gao Wenli Xiao Yize Zhang Zi Wang ... Jessica Hodgins Linxi Fan Yuke Zhu Changliu Liu Guanya Shi 140 22 0 03 Feb 2025
Learning Humanoid Locomotion with Perceptive Internal Model Junfeng Long Junli Ren Moji Shi Ziyi Wang Tao Huang Ping Luo Jiangmiao Pang 132 24 0 21 Nov 2024
HOVER: Versatile Neural Whole-Body Controller for Humanoid Robots Tairan He Wenli Xiao Toru Lin Zhengyi Luo Zhenjia Xu ... Changliu Liu Guanya Shi Xiaolong Wang Linxi Fan Yuke Zhu 104 31 0 28 Oct 2024
Learning Smooth Humanoid Locomotion through Lipschitz-Constrained Policies Zixuan Chen Xialin He Yen-Jen Wang Qiayuan Liao Yanjie Ze ... S. Sastry Jiajun Wu Koushil Sreenath Saurabh Gupta Xue Bin Peng 101 19 0 15 Oct 2024
ManiSkill3: GPU Parallelized Robotics Simulation and Rendering for Generalizable Embodied AI Stone Tao Fanbo Xiang Arth Shukla Yuzhe Qin Xander Hinrichsen ... Shan Luo Roberto Calandra Rui Chen Shan Luo Hao Su 82 35 0 01 Oct 2024
Stage-Wise Reward Shaping for Acrobatic Robots: A Constrained Multi-Objective Reinforcement Learning Approach Dohyeong Kim Hyeokjin Kwon Junseok Kim Gunmin Lee Songhwai Oh 54 6 0 24 Sep 2024
Advancing Humanoid Locomotion: Mastering Challenging Terrains with Denoising World Model Learning Xinyang Gu Yen-Jen Wang Xiang Zhu Chengming Shi Yanjiang Guo Yichen Liu Jianyu Chen 81 42 0 26 Aug 2024
SMPLOlympics: Sports Environments for Physically Simulated Humanoids Zhengyi Luo Jiashun Wang Kangni Liu Haotian Zhang Chen Tessler ... Jinkun Cao Zihui Lin Fengyi Wang Jessica Hodgins Kris Kitani 76 13 0 28 Jun 2024
Humanoid Parkour Learning Ziwen Zhuang Shenzhe Yao Hang Zhao 80 48 0 15 Jun 2024
HumanPlus: Humanoid Shadowing and Imitation from Humans Zipeng Fu Qingqing Zhao Qi Wu Gordon Wetzstein Chelsea Finn SyDa 90 104 0 15 Jun 2024
OmniH2O: Universal and Dexterous Human-to-Humanoid Whole-Body Teleoperation and Learning Tairan He Zhengyi Luo Xialin He Wenli Xiao Chong Zhang Weinan Zhang Kris Kitani Changliu Liu Guanya Shi 90 84 0 13 Jun 2024
WoCoCo: Learning Whole-Body Humanoid Control with Sequential Contacts Chong Zhang Wenli Xiao Tairan He Guanya Shi 97 44 0 10 Jun 2024
RoboCasa: Large-Scale Simulation of Everyday Tasks for Generalist Robots Soroush Nasiriany Abhiram Maddukuri Lance Zhang Adeet Parikh Aaron Lo Abhishek Joshi Ajay Mandlekar Yuke Zhu LM&Ro 112 83 0 04 Jun 2024
Rethinking Robustness Assessment: Adversarial Attacks on Learning-based Quadrupedal Locomotion Controllers Fan Shi Chong Zhang Takahiro Miki Joonho Lee Marco Hutter Stelian Coros AAML 115 17 0 21 May 2024
Reinforcement learning Florentin Wörgötter 82 2,534 0 16 May 2024
Imitation Learning: A Survey of Learning Methods, Environments and Metrics Nathan Gavenski Odinaldo Rodrigues Michael Luck 69 167 0 30 Apr 2024
Humanoid-Gym: Reinforcement Learning for Humanoid Robot with Zero-Shot Sim2Real Transfer Xinyang Gu Yen-Jen Wang Jianyu Chen 80 39 0 08 Apr 2024
HumanoidBench: Simulated Humanoid Benchmark for Whole-Body Locomotion and Manipulation Carmelo Sferrazza Dun-Ming Huang Xingyu Lin Youngwoon Lee Pieter Abbeel 122 46 0 15 Mar 2024
Real-Time Simulated Avatar from Head-Mounted Sensors Zhengyi Luo Jinkun Cao Rawal Khirodkar Alexander Winkler Jing Huang Kris Kitani Weipeng Xu 75 7 0 11 Mar 2024
Toward Understanding Key Estimation in Learning Robust Humanoid Locomotion Zhicheng Wang Wandi Wei Ruiqi Yu Jun Wu Qiuguo Zhu 80 7 0 09 Mar 2024
Learning Human-to-Humanoid Real-Time Whole-Body Teleoperation Tairan He Zhengyi Luo Wenli Xiao Chong Zhang Kris Kitani Changliu Liu Guanya Shi 78 94 0 07 Mar 2024
Whole-body Humanoid Robot Locomotion with Human Reference Qiang Zhang Peter Cui David Yan Jingkai Sun Yiqun Duan Arthur Zhang Renjing Xu 101 34 0 28 Feb 2024
Expressive Whole-Body Control for Humanoid Robots Xuxin Cheng Yandong Ji Junming Chen Ruihan Yang Ge Yang Xiaolong Wang 107 105 0 26 Feb 2024
Agile But Safe: Learning Collision-Free High-Speed Legged Locomotion Tairan He Chong Zhang Wenli Xiao Guanqi He Changliu Liu Guanya Shi 102 71 0 31 Jan 2024
Universal Humanoid Motion Representations for Physics-Based Control Zhengyi Luo Jinkun Cao Josh Merel Alexander Winkler Jing Huang Kris Kitani Weipeng Xu 63 57 0 06 Oct 2023
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
Robot Parkour Learning Ziwen Zhuang Zipeng Fu Jianren Wang Christopher G Atkeson Soeren Schwertfeger Chelsea Finn Hang Zhao 111 162 0 11 Sep 2023
Perpetual Humanoid Control for Real-time Simulated Avatars Zhengyi Luo Jinkun Cao Alexander Winkler Kris Kitani Weipeng Xu 103 102 0 10 May 2023
Real-World Humanoid Locomotion with Reinforcement Learning Ilija Radosavovic Tete Xiao Bike Zhang Trevor Darrell Jitendra Malik Koushil Sreenath 91 139 0 06 Mar 2023
Robust and Versatile Bipedal Jumping Control through Reinforcement Learning Zhongyu Li Xue Bin Peng Pieter Abbeel Sergey Levine Glen Berseth Koushil Sreenath 82 40 0 19 Feb 2023
DreamWaQ: Learning Robust Quadrupedal Locomotion With Implicit Terrain Imagination via Deep Reinforcement Learning Aswin Nahrendra Byeong-Uk Yu Hyunsam Myung 86 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 101 21 0 15 Dec 2022
Walk These Ways: Tuning Robot Control for Generalization with Multiplicity of Behavior G. Margolis Pulkit Agrawal 69 165 0 06 Dec 2022
On the Adversarial Scenario-based Safety Testing of Robots: the Comparability and Optimal Aggressiveness Bowen Weng Guillermo A. Castillo Wei Zhang Ayonga Hereid AAML 69 8 0 20 Sep 2022
Adapting Rapid Motor Adaptation for Bipedal Robots Ashish Kumar Zhongyu Li Jun Zeng Deepak Pathak Koushil Sreenath Jitendra Malik 114 67 0 30 May 2022
Learning Torque Control for Quadrupedal Locomotion Shuxiao Chen Bike Zhang M. Mueller Akshara Rai Koushil Sreenath 66 39 0 10 Mar 2022
Robust Learning from Observation with Model Misspecification Luca Viano Yu-ting Huang Parameswaran Kamalaruban Craig Innes S. Ramamoorthy Adrian Weller OOD 53 10 0 12 Feb 2022
Learning to Walk in Minutes Using Massively Parallel Deep Reinforcement Learning Nikita Rudin David Hoeller Philipp Reist Marco Hutter 244 579 0 24 Sep 2021
Reinforcement Learning with Evolutionary Trajectory Generator: A General Approach for Quadrupedal Locomotion Hao-bin Shi Bo Zhou Hongsheng Zeng Fan Wang Yueqiang Dong Jiangyong Li Kang Wang Hao Tian Max Meng 90 50 0 14 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 176 1,077 0 24 Aug 2021
The MIT Humanoid Robot: Design, Motion Planning, and Control For Acrobatic Behaviors Matthew Chignoli Donghyun Kim Elijah Stanger-Jones Sangbae Kim 73 138 0 19 Apr 2021
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 85 219 0 26 Mar 2021
Learning Quadrupedal Locomotion over Challenging Terrain Joonho Lee Jemin Hwangbo Lorenz Wellhausen V. Koltun Marco Hutter 139 1,171 0 21 Oct 2020
$f$ -GAIL: Learning $f$ -Divergence for Generative Adversarial Imitation Learning Xin Zhang Jun Luo Ziming Zhang Zhi-Li Zhang 48 33 0 02 Oct 2020
Constrained Reinforcement Learning Has Zero Duality Gap Santiago Paternain Luiz F. O. Chamon Miguel Calvo-Fullana Alejandro Ribeiro 56 193 0 29 Oct 2019
AMASS: Archive of Motion Capture as Surface Shapes Naureen Mahmood N. Ghorbani N. Troje Gerard Pons-Moll Michael J. Black 3DH 48 1,252 0 05 Apr 2019
MPC for Humanoid Gait Generation: Stability and Feasibility Nicola Scianca Daniele De Simone L. Lanari G. Oriolo 70 104 0 24 Jan 2019