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Legged robots navigating crowded scenes and complex terrains in the real world are required to execute dynamic leg movements while processing visual input for obstacle avoidance and path planning.
Reinforcement learning with hierarchies of machines
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Between MDPs and semi-MDPs: A framework for temporal abstraction in reinforcement learning
R. S. Sutton, D. Precup, and S. Singh · 1999
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Hierarchical reinforcement learning with the MAXQ value function decomposition
T. G. Dietterich · 2000
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Indoor navigation of a wheeled mobile robot along visual routes
G. Blanc, Y. Mezouar, and P. Martinet · 2005
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C. Daniel, G. Neumann, O. Kroemer, and J. Peters · 2013
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Vision enhanced reactive locomotion control for trotting on rough terrain
S. Bazeille, V. Barasuol, M. Focchi, I. Havoutis, M. Frigerio, J. Buchli, C. Semini, and D. G. Caldwell · 2013
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Terrain-adaptive locomotion skills using deep reinforcement learning
X. B. Peng, G. Berseth, and M. Van de Panne · 2016
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Learning and transfer of modulated locomotor controllers
N. Heess, G. Wayne, Y. Tassa, T. P. Lillicrap, M. A. Riedmiller, and D. Silver · 2016
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End-to-end training of deep visuomotor policies
S. Levine, C. Finn, T. Darrell, and P. Abbeel · 2016
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Evolution strategies as a scalable alternative to reinforcement learning
T. Salimans, J. Ho, X. Chen, S. Sidor, and I. Sutskever · 2017
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Deeploco: Dynamic locomotion skills using hierarchical deep reinforcement learning
X. B. Peng, G. Berseth, K. Yin, and M. Van De Panne · 2017
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Stochastic neural networks for hierarchical reinforcement learning
C. Florensa, Y. Duan, and P. Abbeel · 2017
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The option-critic architecture
P.-L. Bacon, J. Harb, and D. Precup · 2017
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R. Fox, S. Krishnan, I. Stoica, and K. Goldberg · 2017
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Proximal policy optimization algorithms
J. Schulman, F. Wolski, P. Dhariwal, A. Radford, and O. Klimov · 2017
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Collective robot reinforcement learning with distributed asynchronous guided policy search
A. Yahya, A. Li, M. Kalakrishnan, Y. Chebotar, and S. Levine · 2017
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D. Golovin, B. Solnik, S. Moitra, G. Kochanski, J. Karro, and D. Sculley · 2017
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Hierarchical reinforcement learning for quadruped locomotion
D. Jain, A. Iscen, and K. Caluwaerts · 2019
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MCP: Learning composable hierarchical control with multiplicative compositional policies
X. B. Peng, M. Chang, G. Zhang, P. Abbeel, and S. Levine · 2019
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Learning generalizable locomotion skills with hierarchical reinforcement learning
T. Li, N. G. Lambert, R. Calandra, F. Meier, and A. Rai · 2019
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Hierarchical reinforcement learning with hindsight
A. Levy, R. Platt, and K. Saenko · 2019
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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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J. Merel, A. Ahuja, V. Pham, S. Tunyasuvunakool, S. Liu, D. Tirumala, N. Heess, and G. Wayne · 2018
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Learning an embedding space for transferable robot skills
K. Hausman, J. T. Springenberg, Z. Wang, N. Heess, and M. Riedmiller · 2018
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J. D. Co-Reyes, Y. Liu, A. Gupta, B. Eysenbach, P. Abbeel, and S. Levine · 2018
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A. Iscen, K. Caluwaerts, J. Tan, T. Zhang, E. Coumans, V. Sindhwani, and V. Vanhoucke · 2018
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Qt-opt: Scalable deep reinforcement learning for vision-based robotic manipulation
D. Kalashnikov, A. Irpan, P. Pastor, J. Ibarz, A. Herzog, E. Jang, D. Quillen, E. Holly, M. Kalakrishnan, V. Vanhoucke, et al · 2018
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Simple random search of static linear policies is competitive for reinforcement learning
H. Mania, A. Guy, and B. Recht · 2018
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Sim-to-real: Learning agile locomotion for quadruped robots
J. Tan, T. Zhang, E. Coumans, A. Iscen, Y. Bai, D. Hafner, S. Bohez, and V. Vanhoucke · 2018
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Z. Xie, P. Clary, J. Dao, P. Morais, J. Hurst, and M. van de Panne · 2019
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Zero-shot imitation learning from demonstrations for legged robot visual navigation
X. Pan, T. Zhang, B. Ichter, A. Faust, J. Tan, and S. Ha · 2019
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HRL4IN: Hierarchical reinforcement learning for interactive navigation with mobile manipulators
C. Li, F. Xia, R. M. Martin, and S. Savarese · 2019
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Fast and continuous foothold adaptation for dynamic locomotion through cnns
O. A. V. Magana, V. Barasuol, M. Camurri, L. Franceschi, M. Focchi, M. Pontil, D. G. Caldwell, and C. Semini · 2019
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Reinforcement learning with chromatic networks
X. Song, K. Choromanski, J. Parker-Holder, Y. Tang, W. Gao, A. Pacchiano, T. Sarlos, D. Jain, and Y. Yang · 2019
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Robotic table tennis with model-free reinforcement learning
W. Gao, L. Graesser, K. Choromanski, X. Song, N. Lazic, P. Sanketi, V. Sindhwani, and N. Jaitly · 2020
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Provably robust blackbox optimization for reinforcement learning
K. Choromanski, A. Pacchiano, J. Parker-Holder, Y. Tang, D. Jain, Y. Yang, A. Iscen, J. Hsu, and V. Sindhwani · 2020
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