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Designing agile locomotion for quadruped robots often requires extensive expertise and tedious manual tuning.
Legged Robots That Balance
Marc H. Raibert · 1986
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Nick Jakobi, Phil Husbands, and Inman Harvey · 1995
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Biped dynamic walking using reinforcement learning
Hamid Benbrahim and Judy A Franklin · 1997
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Intuitive control of a planar bipedal walking robot
Jerry Pratt and Gill Pratt · 1998
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Slipperiness and coefficient of friction on the carpets
Ikuko Hirai and Toshihiro Gunji · 2000
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Stochastic policy gradient reinforcement learning on a simple 3d biped
Russ Tedrake, Teresa Weirui Zhang, and H Sebastian Seung · 2004
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Policy gradient reinforcement learning for fast quadrupedal locomotion
Nate Kohl and Peter Stone · 2004
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Reinforcement learning of humanoid rhythmic walking parameters based on visual information
Masaki Ogino, Yutaka Katoh, Masahiro Aono, Minoru Asada, and Koh Hosoda · 2004
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Gen Endo, Jun Morimoto, Takamitsu Matsubara, Jun Nakanishi, and Gordon Cheng · 2005
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Resilient machines through continuous self-modeling
Josh Bongard, Victor Zykov, and Hod Lipson · 2006
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Crossing the reality gap in evolutionary robotics by promoting transferable controllers
Sylvain Koos, Jean-Baptiste Mouret, and Stéphane Doncieux · 2010
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Adrian Boeing and Thomas Bräunl · 2012
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Reinforcement learning in robotics: A survey
Jens Kober and Jan Peters · 2012
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Sébastien Gay, José Santos-Victor, and Auke Ijspeert · 2013
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A terradynamics of legged locomotion on granular media
Chen Li, Tingnan Zhang, and Daniel I Goldman · 2013
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Gait optimization for roombots modular robots - matching simulation and reality
Rico Möckel, N. Perov Yura, Anh The Nguyen, Massimo Vespignani, Stephane Bonardi, Soha Pouya, Alexander Spröwitz, Jesse van den Kieboom, Frederic Wilhelm, and Auke Jan Ijspeert · 2013
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Learning complex neural network policies with trajectory optimization
Sergey Levine and Vladlen Koltun · 2014
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Continuous control with deep reinforcement learning
Timothy P Lillicrap, Jonathan J Hunt, Alexander Pritzel, Nicolas Heess, Tom Erez, Yuval Tassa, David Silver, and Daan Wierstra · 2015
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Robots that can adapt like animals
Antoine Cully, Jeff Clune, Danesh Tarapore, and Jean-Baptiste Mouret · 2015
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Dynamic terrain traversal skills using reinforcement learning
Xue Bin Peng, Glen Berseth, and Michiel van de Panne · 2015
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Sehoon Ha and Katsu Yamane · 2015
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Ensemble-CIO: Full-body dynamic motion planning that transfers to physical humanoids
Igor Mordatch, Kendall Lowrey, and Emanuel Todorov · 2015
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Towards adapting deep visuomotor representations from simulated to real environments
Eric Tzeng, Coline Devin, Judy Hoffman, Chelsea Finn, Xingchao Peng, Sergey Levine, Kate Saenko, and Trevor Darrell · 2015
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Deep kernels for optimizing locomotion controllers
Rika Antonova, Akshara Rai, and Christopher G. Atkeson · 2017
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TensorFlow agents: Efficient batched reinforcement learning in TensorFlow
Danijar Hafner, James Davidson, and Vincent Vanhoucke · 2017
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DeepLoco: Dynamic locomotion skills using hierarchical deep reinforcement learning
Xue Bin Peng, Glen Berseth, KangKang Yin, and Michiel van de Panne · 2017
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Emergence of locomotion behaviours in rich environments
Nicolas Heess, Dhruva TB, Srinivasan Sriram, Jay Lemmon, Josh Merel, Greg Wayne, Yuval Tassa, Tom Erez, Ziyu Wang, S. M. Ali Eslami, Martin A. Riedmiller, and David Silver · 2017
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Why off-the-shelf physics simulators fail in evaluating feedback controller performance-a case study for quadrupedal robots
Michael Neunert, Thiago Boaventura, and Jonas Buchli · 2017
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Avik De and Daniel E. Koditschek · 2015
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Benchmarking deep reinforcement learning for continuous control
Yan Duan, Xi Chen, Rein Houthooft, John Schulman, and Pieter Abbeel · 2016
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Bayesian optimization for learning gaits under uncertainty
Roberto Calandra, André Seyfarth, Jan Peters, and Marc Peter Deisenroth · 2016
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OpenAI Gym, 2016
Greg Brockman, Vicki Cheung, Ludwig Pettersson, Jonas Schneider, John Schulman, Jie Tang, and Wojciech Zaremba · 2016
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Terrain-adaptive locomotion skills using deep reinforcement learning
Xue Bin Peng, Glen Berseth, and Michiel van de Panne · 2016
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Simulation-based design of dynamic controllers for humanoid balancing
Jie Tan, Zhaoming Xie, Byron Boots, and C. Karen Liu · 2016
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EPOpt: Learning robust neural network policies using model ensembles
Aravind Rajeswaran, Sarvjeet Ghotra, Balaraman Ravindran, and Sergey Levine · 2016
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Model identification via physics engines for improved policy search
Shaojun Zhu, Andrew Kimmel, Kostas E. Bekris, and Abdeslam Boularias · 2017
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Preparing for the unknown: Learning a universal policy with online system identification
Wenhao Yu, Jie Tan, C. Karen Liu, and Greg Turk · 2017
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Robust adversarial reinforcement learning
Lerrel Pinto, James Davidson, Rahul Sukthankar, and Abhinav Gupta · 2017
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Domain randomization for transferring deep neural networks from simulation to the real world
Josh Tobin, Rachel Fong, Alex Ray, Jonas Schneider, Wojciech Zaremba, and Pieter Abbeel · 2017
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Grounded action transformation for robot learning in simulation
Josiah Hanna and Peter Stone · 2017
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Multi-task domain adaptation for deep learning of instance grasping from simulation
Kuan Fang, Yunfei Bai, Stefan Hinterstoisser, and Mrinal Kalakrishnan · 2017
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Using simulation and domain adaptation to improve efficiency of deep robotic grasping
Konstantinos Bousmalis, Alex Irpan, Paul Wohlhart, Yunfei Bai, Matthew Kelcey, Mrinal Kalakrishnan, Laura Downs, Julian Ibarz, Peter Pastor, Kurt Konolige, Sergey Levine, and Vincent Vanhoucke · 2017
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Pybullet, a python module for physics simulation in robotics, games and machine learning
Erwin Coumans and Yunfei Bai · 2017
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Robust trajectory optimization under frictional contact with iterative learning
Jingru Luo and Kris Hauser · 2017
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Optimizing simulations with noise-tolerant structured exploration
Krzysztof Choromanski, Atil Iscen, Vikas Sindhwani, Jie Tan, and Erwin Coumans · 2018
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Yuval Tassa, Yotam Doron, Alistair Muldal, Tom Erez, Yazhe Li, Diego de Las Casas, David Budden, Abbas Abdolmaleki, Josh Merel, Andrew Lefrancq, et al · 2018
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Phase-parametric policies for reinforcement learning in cyclic environments
Arjun Sharma and Kris M. Kitani · 2018
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