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One Policy but Many Worlds: A Scalable Unified Policy for Versatile Humanoid Locomotion

24 May 2025

Papers citing "One Policy but Many Worlds: A Scalable Unified Policy for Versatile Humanoid Locomotion"

22 / 72 papers shown

Title
Is Conditional Generative Modeling all you need for Decision-Making? Anurag Ajay Yilun Du Abhi Gupta J. Tenenbaum Tommi Jaakkola Pulkit Agrawal DiffM 135 406 0 28 Nov 2022
Deep Whole-Body Control: Learning a Unified Policy for Manipulation and Locomotion Zipeng Fu Xuxin Cheng Deepak Pathak 84 157 0 18 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 146 64 0 12 Sep 2022
Diffusion Policies as an Expressive Policy Class for Offline Reinforcement Learning Zhendong Wang Jonathan J. Hunt Mingyuan Zhou OffRL 100 386 0 12 Aug 2022
Classifier-Free Diffusion Guidance Jonathan Ho Tim Salimans FaML 193 3,963 0 26 Jul 2022
Planning with Diffusion for Flexible Behavior Synthesis Michael Janner Yilun Du J. Tenenbaum Sergey Levine DiffM 310 700 0 20 May 2022
Video Diffusion Models Jonathan Ho Tim Salimans Alexey A. Gritsenko William Chan Mohammad Norouzi David J. Fleet DiffM VGen 204 1,626 0 07 Apr 2022
Goal-Conditioned Reinforcement Learning: Problems and Solutions Minghuan Liu Menghui Zhu Weinan Zhang 87 142 0 20 Jan 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 246 580 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 178 1,086 0 24 Aug 2021
Diffusion Models Beat GANs on Image Synthesis Prafulla Dhariwal Alex Nichol 244 7,933 0 11 May 2021
Score-Based Generative Modeling through Stochastic Differential Equations Yang Song Jascha Narain Sohl-Dickstein Diederik P. Kingma Abhishek Kumar Stefano Ermon Ben Poole DiffM SyDa 350 6,551 0 26 Nov 2020
Denoising Diffusion Implicit Models Jiaming Song Chenlin Meng Stefano Ermon VLM DiffM 289 7,454 0 06 Oct 2020
One Policy to Control Them All: Shared Modular Policies for Agent-Agnostic Control Wenlong Huang Igor Mordatch Deepak Pathak 111 178 0 09 Jul 2020
Denoising Diffusion Probabilistic Models Jonathan Ho Ajay Jain Pieter Abbeel DiffM 669 18,276 0 19 Jun 2020
Learning by Cheating Dian Chen Brady Zhou V. Koltun Philipp Krahenbuhl SSL 110 517 0 27 Dec 2019
Skill Transfer in Deep Reinforcement Learning under Morphological Heterogeneity Yang Hu Giovanni Montana 48 6 0 14 Aug 2019
AMASS: Archive of Motion Capture as Surface Shapes Naureen Mahmood N. Ghorbani N. Troje Gerard Pons-Moll Michael J. Black 3DH 48 1,259 0 05 Apr 2019
Proximal Policy Optimization Algorithms John Schulman Filip Wolski Prafulla Dhariwal Alec Radford Oleg Klimov OffRL 526 19,237 0 20 Jul 2017
Scheduled Sampling for Sequence Prediction with Recurrent Neural Networks Samy Bengio Oriol Vinyals Navdeep Jaitly Noam M. Shazeer 152 2,038 0 09 Jun 2015
A Reduction of Imitation Learning and Structured Prediction to No-Regret Online Learning Stéphane Ross Geoffrey J. Gordon J. Andrew Bagnell OffRL 231 3,232 0 02 Nov 2010