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Discrete-Time Hybrid Automata Learning: Legged Locomotion Meets Skateboarding

3 March 2025

Papers citing "Discrete-Time Hybrid Automata Learning: Legged Locomotion Meets Skateboarding"

40 / 40 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 116 0 0 15 May 2025
Quadrupedal Robot Skateboard Mounting via Reverse Curriculum Learning Danil Belov Artem Erkhov Elizaveta Pestova Ilya Osokin Dzmitry Tsetserukou Pavel Osinenko 59 0 0 10 May 2025
Riemannian Direct Trajectory Optimization of Rigid Bodies on Matrix Lie Groups Sangli Teng Tzu-Yuan Lin William Clark Ram Vasudevan Maani Ghaffari AI4CE 131 1 0 05 May 2025
Multi-Task Reinforcement Learning for Quadrotors Jiaxu Xing Ismail Geles Yunlong Song Elie Aljalbout Davide Scaramuzza 120 9 0 17 Dec 2024
A Learning Framework for Diverse Legged Robot Locomotion Using Barrier-Based Style Rewards Gijeong Kim Yong-Hoon Lee Hae-Won Park 137 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 89 45 0 26 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 175 9 0 16 Jul 2024
WoCoCo: Learning Whole-Body Humanoid Control with Sequential Contacts Chong Zhang Wenli Xiao Tairan He Guanya Shi 97 46 0 10 Jun 2024
Quadruped robot traversing 3D complex environments with limited perception Yi Cheng Hang Liu Guoping Pan Linqi Ye Houde Liu Bin Liang 72 10 0 28 Apr 2024
Visual Whole-Body Control for Legged Loco-Manipulation Minghuan Liu Zixuan Chen Xuxin Cheng Yandong Ji Ri-Zhao Qiu Ruihan Yang Xiaolong Wang 99 55 0 25 Mar 2024
Legged Robot State Estimation within Non-inertial Environments Zijian He Sangli Teng Tzu-Yuan Lin Maani Ghaffari Yan Gu 72 5 0 24 Mar 2024
GMKF: Generalized Moment Kalman Filter for Polynomial Systems with Arbitrary Noise Sangli Teng Harry Zhang David Jin A. Jasour Maani Ghaffari Luca Carlone 115 11 0 07 Mar 2024
Agile But Safe: Learning Collision-Free High-Speed Legged Locomotion Tairan He Chong Zhang Wenli Xiao Guanqi He Changliu Liu Guanya Shi 124 71 0 31 Jan 2024
Reinforcement Learning for Versatile, Dynamic, and Robust Bipedal Locomotion Control Zhongyu Li Xue Bin Peng Pieter Abbeel Sergey Levine Glen Berseth Koushil Sreenath 88 85 0 30 Jan 2024
Extreme Parkour with Legged Robots Xuxin Cheng Kexin Shi Ananye Agarwal Deepak Pathak 72 167 0 25 Sep 2023
Convex Geometric Motion Planning on Lie Groups via Moment Relaxation Sangli Teng A. Jasour Ram Vasudevan Maani Ghaffari 86 14 0 23 May 2023
Perceptive Locomotion through Whole-Body MPC and Optimal Region Selection Thomas Corbéres Carlos Mastalli W. Merkt Ioannis Havoutis Maurice F. Fallon Nicolas Mansard T. Flayols S. Vijayakumar Steve Tonneau 86 15 0 15 May 2023
DribbleBot: Dynamic Legged Manipulation in the Wild Yandong Ji G. Margolis Pulkit Agrawal 77 62 0 03 Apr 2023
DreamWaQ: Learning Robust Quadrupedal Locomotion With Implicit Terrain Imagination via Deep Reinforcement Learning Aswin Nahrendra Byeong-Uk Yu Hyunsam Myung 98 91 0 25 Jan 2023
Walk These Ways: Tuning Robot Control for Generalization with Multiplicity of Behavior G. Margolis Pulkit Agrawal 74 165 0 06 Dec 2022
Task-Driven Hybrid Model Reduction for Dexterous Manipulation Wanxin Jin Michael Posa 94 16 0 30 Nov 2022
Deep Whole-Body Control: Learning a Unified Policy for Manipulation and Locomotion Zipeng Fu Xuxin Cheng Deepak Pathak 87 157 0 18 Oct 2022
Fully Proprioceptive Slip-Velocity-Aware State Estimation for Mobile Robots via Invariant Kalman Filtering and Disturbance Observer Xihang Yu Sangli Teng Theodor Chakhachiro W. Tong Ting-Ting Li Tzu-Yuan Lin S. Koehler Manuel Ahumada Jeffrey M. Walls Maani Ghaffari 82 14 0 29 Sep 2022
Perceptive Locomotion through Nonlinear Model Predictive Control R. Grandia Fabian Jenelten Shao-hua Yang Farbod Farshidian Marco Hutter 80 150 0 17 Aug 2022
Hierarchical Reinforcement Learning for Precise Soccer Shooting Skills using a Quadrupedal Robot Yandong Ji Zhongyu Li Yinan Sun Xue Bin Peng Sergey Levine Glen Berseth Koushil Sreenath 75 67 0 01 Aug 2022
Rapid Locomotion via Reinforcement Learning G. Margolis Ge Yang Kartik Paigwar Tao Chen Pulkit Agrawal 107 240 0 05 May 2022
VAE-Loco: Versatile Quadruped Locomotion by Learning a Disentangled Gait Representation Alexander L. Mitchell W. Merkt Mathieu Geisert Siddhant Gangapurwala Martin Engelcke Oiwi Parker Jones Ioannis Havoutis Ingmar Posner 58 3 0 02 May 2022
Lie Algebraic Cost Function Design for Control on Lie Groups Sangli Teng William Clark Anthony N. Bloch Ram Vasudevan Maani Ghaffari 44 27 0 20 Apr 2022
An Error-State Model Predictive Control on Connected Matrix Lie Groups for Legged Robot Control Sangli Teng Di Chen William Clark Maani Ghaffari 92 30 0 16 Mar 2022
Minimizing Energy Consumption Leads to the Emergence of Gaits in Legged Robots Zipeng Fu Ashish Kumar Jitendra Malik Deepak Pathak 75 119 0 25 Oct 2021
Learning to Walk in Minutes Using Massively Parallel Deep Reinforcement Learning Nikita Rudin David Hoeller Philipp Reist Marco Hutter 251 580 0 24 Sep 2021
RMA: Rapid Motor Adaptation for Legged Robots Ashish Kumar Zipeng Fu Deepak Pathak Jitendra Malik 166 581 0 08 Jul 2021
Neural Hybrid Automata: Learning Dynamics with Multiple Modes and Stochastic Transitions Michael Poli Stefano Massaroli Luca Scimeca Seong Joon Oh Sanghyuk Chun Atsushi Yamashita Hajime Asama Jinkyoo Park Animesh Garg AI4TS AI4CE 331 6 0 08 Jun 2021
Fast and Efficient Locomotion via Learned Gait Transitions Yuxiang Yang Tingnan Zhang Erwin Coumans Jie Tan Byron Boots 65 92 0 09 Apr 2021
Legged Robot State Estimation in Slippery Environments Using Invariant Extended Kalman Filter with Velocity Update Sangli Teng M. Mueller Koushil Sreenath 44 41 0 09 Apr 2021
Robotic Guide Dog: Leading a Human with Leash-Guided Hybrid Physical Interaction Anxing Xiao W. Tong Lizhi Yang Jun Zeng Zhongyu Li Koushil Sreenath 45 79 0 26 Mar 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 91 221 0 26 Mar 2021
Toward Safety-Aware Informative Motion Planning for Legged Robots Sangli Teng Yukai Gong J. Grizzle Maani Ghaffari 54 37 0 26 Mar 2021
Feedback Control for Autonomous Riding of Hovershoes by a Cassie Bipedal Robot Shuxiao Chen Jonathan D. Rogers Bike Zhang Koushil Sreenath 15 12 0 26 Jul 2019
Estimating or Propagating Gradients Through Stochastic Neurons for Conditional Computation Yoshua Bengio Nicholas Léonard Aaron Courville 396 3,154 0 15 Aug 2013