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We focus on the problem of developing energy efficient controllers for quadrupedal robots.
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R. M. Alexander and A. Jayes · 1983
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R. M. Alexander · 1984
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M. H. Raibert · 1986
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Trotting, pacing and bounding by a quadruped robot
M. H. Raibert · 1990
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Locomotion: dealing with friction
V. Radhakrishnan · 1998
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Temporal abstraction in reinforcement learning
D. Precup · 2001
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Intelligent control of quadruped gallops
D. W. Marhefka, D. E. Orin, J. P. Schmiedeler, and K. J. Waldron · 2003
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Simbicon: Simple biped locomotion control
K. Yin, K. Loken, and M. Van de Panne · 2007
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Articulated swimming creatures
J. Tan, Y. Gu, G. Turk, and C. K. Liu · 2011
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Contact-invariant optimization for hand manipulation
I. Mordatch, Z. Popović, and E. Todorov · 2012
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Flexible muscle-based locomotion for bipedal creatures
T. Geijtenbeek, M. Van De Panne, and A. F. Van Der Stappen · 2013
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A direct method for trajectory optimization of rigid bodies through contact
M. Posa, C. Cantu, and R. Tedrake · 2014
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Comparing the effect of different spine and leg designs for a small bounding quadruped robot
P. Eckert, A. Spröwitz, H. Witte, and A. J. Ijspeert · 2015
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Implementation of trot-to-gallop transition and subsequent gallop on the mit cheetah i
D. J. Hyun, J. Lee, S. Park, and S. Kim · 2016
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The cma evolution strategy: A tutorial
N. Hansen · 2016
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Simulation-based design of dynamic controllers for humanoid balancing
J. Tan, Z. Xie, B. Boots, and C. K. Liu · 2016
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Emergence of locomotion behaviours in rich environments
N. Heess, D. TB, S. Sriram, J. Lemmon, J. Merel, G. Wayne, Y. Tassa, T. Erez, Z. Wang, S. Eslami, et al · 2017
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Model predictive control based framework for com control of a quadruped robot
T. Horvat, K. Melo, and A. J. Ijspeert · 2017
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Real-time motion planning of legged robots: A model predictive control approach
F. Farshidian, E. Jelavic, A. Satapathy, M. Giftthaler, and J. Buchli · 2017
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A quadruped robot exhibiting spontaneous gait transitions from walking to trotting to galloping
D. Owaki and A. Ishiguro · 2017
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Phase-functioned neural networks for character control
D. Holden, T. Komura, and J. Saito · 2017
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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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Using deep reinforcement learning to learn high-level policies on the atrias biped
T. Li, H. Geyer, C. G. Atkeson, and A. Rai · 2019
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Contrasting exploration in parameter and action space: A zeroth-order optimization perspective
A. Vemula, W. Sun, and J. Bagnell · 2019
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Passive whole-body control for quadruped robots: Experimental validation over challenging terrain
S. Fahmi, C. Mastalli, M. Focchi, and C. Semini · 2019
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CMA-ES/pycma on Github
N. Hansen, Y. Akimoto, and P. Baudis · 2019
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Stable baselines3
A. Raffin, A. Hill, M. Ernestus, A. Gleave, A. Kanervisto, and N. Dormann · 2019
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Multi-agent manipulation via locomotion using hierarchical sim2real
O. Nachum, M. Ahn, H. Ponte, S. S. Gu, and V. Kumar · 2020
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C. D. Bellicoso, F. Jenelten, P. Fankhauser, C. Gehring, J. Hwangbo, and M. Hutter · 2017
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Learning locomotion skills using deeprl: Does the choice of action space matter?
X. B. Peng and M. van de Panne · 2017
Cited alongside, same era.
Proximal policy optimization algorithms
J. Schulman, F. Wolski, P. Dhariwal, A. Radford, and O. Klimov · 2017
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Dynamic locomotion in the mit cheetah 3 through convex model-predictive control
J. Di Carlo, P. M. Wensing, B. Katz, G. Bledt, and S. Kim · 2018
Cited alongside, same era.
Simple random search of static linear policies is competitive for reinforcement learning
H. Mania, A. Guy, and B. Recht · 2018
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Soft actor-critic: Off-policy maximum entropy deep reinforcement learning with a stochastic actor
T. Haarnoja, A. Zhou, P. Abbeel, and S. Levine · 2018
Cited alongside, same era.
Learning symmetric and low-energy locomotion
W. Yu, G. Turk, and C. K. Liu · 2018
Cited alongside, same era.
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Learning fast adaptation with meta strategy optimization
W. Yu, J. Tan, Y. Bai, E. Coumans, and S. Ha · 2020
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Rapidly adaptable legged robots via evolutionary meta-learning
X. Song, Y. Yang, K. Choromanski, K. Caluwaerts, W. Gao, C. Finn, and J. Tan · 2020
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Variational contact-implicit trajectory optimization
Z. Manchester and S. Kuindersma · 2020
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Learning agile robotic locomotion skills by imitating animals
X. B. Peng, E. Coumans, T. Zhang, T.-W. E. Lee, J. Tan, and S. Levine · 2020
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From pixels to legs: Hierarchical learning of quadruped locomotion
D. Jain, A. Iscen, and K. Caluwaerts · 2020
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Learning generalizable locomotion skills with hierarchical reinforcement learning
T. Li, N. Lambert, R. Calandra, F. Meier, and A. Rai · 2020
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Learning a contact-adaptive controller for robust, efficient legged locomotion
X. Da, Z. Xie, D. Hoeller, B. Boots, A. Anandkumar, Y. Zhu, B. Babich, and A. Garg · 2020
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Learning task space actions for bipedal locomotion
H. Duan, J. Dao, K. Green, T. Apgar, A. Fern, and J. Hurst · 2020
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Pybullet, a python module for physics simulation for games, robotics and machine learning
E. Coumans and Y. Bai · 2020
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Learning quadrupedal locomotion over challenging terrain
J. Lee, J. Hwangbo, L. Wellhausen, V. Koltun, and M. Hutter · 2020
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Data efficient reinforcement learning for legged robots
Y. Yang, K. Caluwaerts, A. Iscen, T. Zhang, J. Tan, and V. Sindhwani · 2020
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Blind bipedal stair traversal via sim-to-real reinforcement learning
J. Siekmann, K. Green, J. Warila, A. Fern, and J. Hurst · 2021
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