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Reliable and stable locomotion has been one of the most fundamental challenges for legged robots.
Legged robots that balance
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Policy gradient reinforcement learning for fast quadrupedal locomotion
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Convex optimization
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Improving humanoid locomotive performance with learnt approximated dynamics via gaussian processes for regression
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Robots that can adapt like animals
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Anymal-a highly mobile and dynamic quadrupedal robot
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Stabilizing series-elastic point-foot bipeds using whole-body operational space control
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End-to-end training of deep visuomotor policies
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Combating reinforcement learning’s sisyphean curse with intrinsic fear
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Design principles for a family of direct-drive legged robots
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High-speed bounding with the mit cheetah 2: Control design and experiments
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Safe model-based reinforcement learning with stability guarantees
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Soft actor-critic algorithms and applications
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Deepgait: Planning and control of quadrupedal gaits using deep reinforcement learning
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J. Schulman, F. Wolski, P. Dhariwal, A. Radford, and O. Klimov · 2017
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Learning to walk via deep reinforcement learning
T. Haarnoja, A. Zhou, S. Ha, J. Tan, G. Tucker, and S. Levine · 2018
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MIT cheetah 3: Design and control of a robust, dynamic quadruped robot
G. Bledt, M. J. Powell, B. Katz, J. D. Carlo, P. M. Wensing, and S. Kim · 2018
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Fast online trajectory optimization for the bipedal robot cassie
T. Apgar, P. Clary, K. Green, A. Fern, and J. W. Hurst · 2018
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Reset-free trial-and-error learning for robot damage recovery
K. Chatzilygeroudis, V. Vassiliades, and J.-B. Mouret · 2018
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Learning navigation behaviors end to end
H.-T. L. Chiang, A. Faust, M. Fiser, and A. Francis · 2018
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Qt-opt: Scalable deep reinforcement learning for vision-based robotic manipulation
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Learning agile and dynamic motor skills for legged robots
J. Hwangbo, J. Lee, A. Dosovitskiy, D. Bellicoso, V. Tsounis, V. Koltun, and M. Hutter · 2019
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Closing the sim-to-real loop: Adapting simulation randomization with real world experience
Y. Chebotar, A. Handa, V. Makoviychuk, M. Macklin, J. Issac, N. Ratliff, and D. Fox · 2019
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Learning fast adaptation with meta strategy optimization
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Tossingbot: Learning to throw arbitrary objects with residual physics
A. Zeng, S. Song, J. Lee, A. Rodriguez, and T. Funkhouser · 2019
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Learning generalizable locomotion skills with hierarchical reinforcement learning
T. Li, N. Lambert, R. Calandra, F. Meier, and A. Rai · 2019
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Trajectory-based probabilistic policy gradient for learning locomotion behaviors
S. Choi and J. Kim · 2019
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Data efficient reinforcement learning for legged robots
Y. Yang, K. Caluwaerts, A. Iscen, T. Zhang, J. Tan, and V. Sindhwani · 2019
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Lyapunov-based safe policy optimization for continuous control
Y. Chow, O. Nachum, A. Faust, M. Ghavamzadeh, and E. Duenez-Guzman · 2019
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Robust imitative planning: Planning from demonstrations under uncertainty
P. Tigas, A. Filos, R. McAllister, N. Rhinehart, S. Levine, and Y. Gal · 2019
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Pybullet, a python module for physics simulation for games, robotics and machine learning
E. Coumans and Y. Bai · 2019
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