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Recent work has demonstrated the success of reinforcement learning (RL) for training bipedal locomotion policies for real robots.
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Y. Blum, H. R. Vejdani, A. V. Birn-Jeffery, C. M. Hubicki, J. W. Hurst, and M. A. Daley, “Swing-leg trajectory of running guinea fowl suggests task-level priority of force regulation rather than disturbance rejection,”
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2014
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X. B. Peng and M. van de Panne, “Learning locomotion skills using deep RL: Does the choice of action space maer?”
2017
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W. C. Martin, A. Wu, and H. Geyer, “Experimental evaluation of deadbeat running on the ATRIAS biped,”
2017
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2017
Cited alongside, same era.
J. Tan, T. Zhang, E. Coumans, A. Iscen, Y. Bai, D. Hafner, S. Bohez, and V. Vanhoucke, “Sim-to-real: Learning agile locomotion for quadruped robots,” in
2018
Cited alongside, same era.
T. Apgar, P. Clary, K. Green, A. Fern, and J. Hurst, “Fast Online Trajectory Optimization for the Bipedal Robot Cassie,”
2018
Cited alongside, same era.
J. Luo, Y. Zhao, D. Kim, O. Khatib, and L. Sentis, “Locomotion control of three dimensional passive-foot biped robot based on whole body operational space framework,”
2018
Cited alongside, same era.
Z. Xie, P. Clary, J. Dao, P. Morais, J. Hurst, and M. Van De Panne, “Learning Locomotion Skills for Cassie: Iterative Design and Sim-to-Real,”
J. Hwangbo, J. Lee, A. Dosovitskiy, D. Bellicoso, V. Tsounis, V. Koltun, and M. Hutter, “Learning agile and dynamic motor skills for legged robots,”
2019
Later among the works it cites.
J. Luo, E. Solowjow, C. Wen, J. A. Ojea, A. M. Agogino, A. Tamar, and P. Abbeel, “Reinforcement learning on variable impedance controller for high-precision robotic assembly,” in
2019
Later among the works it cites.
T. Johannink, S. Bahl, A. Nair, J. Luo, A. Kumar, M. Loskyll, J. A. Ojea, E. Solowjow, and S. Levine, “Residual reinforcement learning for robot control,”
2019
Later among the works it cites.
K. Green, R. L. Hatton, and J. Hurst, “Planning for the unexpected: Explicitly optimizing motions for ground uncertainty in running,” in
2020
Closest in time.
J. Siekmann, S. Valluri, J. Dao, F. Bermillo, H. Duan, A. Fern, and J. Hurst, “Learning Memory-Based Control for Human-Scale Bipedal Locomotion,” in
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2019
Cited alongside, same era.
R. Martín-Martín, M. A. Lee, R. Gardner, S. Savarese, J. Bohg, and A. Garg, “Variable impedance control in end-effector space: An action space for reinforcement learning in contact-rich tasks,” in
2019
Cited alongside, same era.
P. Varin, L. Grossman, and S. Kuindersma, “A comparison of action spaces for learning manipulation tasks,” in
2019
Cited alongside, same era.
2020
Closest in time.
M. A. Lee, C. Florensa, J. Tremblay, N. Ratliff, A. Garg, F. Ramos, and D. Fox, “Guided uncertainty-aware policy optimization: Combining learning and model-based strategies for sample-efficient policy learning,” in
2020
Closest in time.