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Successful real-world deployment of legged robots would require them to adapt in real-time to unseen scenarios like changing terrains, changing payloads, wear and tear.
Dynamic walk of a biped
Hirofumi Miura and Isao Shimoyama · 1984
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Hopping in legged systems—modeling and simulation for the two-dimensional one-legged case
Marc H Raibert · 1984
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Rhex: A simple and highly mobile hexapod robot
Uluc Saranli, Martin Buehler, and Daniel E Koditschek · 2001
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Positive force feedback in bouncing gaits?
Hartmut Geyer, Andre Seyfarth, and Reinhard Blickhan · 2003
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Nonlinear system identification using coevolution of models and tests
Josh C Bongard and Hod Lipson · 2005
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Simbicon: Simple biped locomotion control
KangKang Yin, Kevin Loken, and Michiel Van de Panne · 2007
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Surrogate-based aerodynamic design optimization: Use of surrogates in aerodynamic design optimization
MYM Ahmed and N Qin · 2009
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Chomp: Gradient optimization techniques for efficient motion planning
Nathan Ratliff, Matt Zucker, J Andrew Bagnell, and Siddhartha Srinivasa · 2009
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Feature-based locomotion controllers
Martin De Lasa, Igor Mordatch, and Aaron Hertzmann · 2010
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Fast, robust quadruped locomotion over challenging terrain
Mrinal Kalakrishnan, Jonas Buchli, Peter Pastor, Michael Mistry, and Stefan Schaal · 2010
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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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An optimization approach to rough terrain locomotion
Matt Zucker, J Andrew Bagnell, Christopher G Atkeson, and James Kuffner · 2010
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A reduction of imitation learning and structured prediction to no-regret online learning
Stéphane Ross, Geoffrey Gordon, and Drew Bagnell · 2011
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A compliant hybrid zero dynamics controller for stable, efficient and fast bipedal walking on mabel
Koushil Sreenath, Hae-Won Park, Ioannis Poulakakis, and Jessy W Grizzle · 2011
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The stanford littledog: A learning and rapid replanning approach to quadruped locomotion
J Zico Kolter and Andrew Y Ng · 2011
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Optimization and learning for rough terrain legged locomotion
Matt Zucker, Nathan Ratliff, Martin Stolle, Joel Chestnutt, J Andrew Bagnell, Christopher G Atkeson, and James Kuffner · 2011
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Leveraging multiple simulators for crossing the reality gap
Adrian Boeing and Thomas Bräunl · 2012
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Tail assisted dynamic self righting
Aaron M Johnson, Thomas Libby, Evan Chang-Siu, Masayoshi Tomizuka, Robert J Full, and Daniel E Koditschek · 2012
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Piecewise linear spine for speed–energy efficiency trade-off in quadruped robots
Mahdi Khoramshahi, Hamed Jalaly Bidgoly, Soroosh Shafiee, Ali Asaei, Auke Jan Ijspeert, and Majid Nili Ahmadabadi · 2013
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Reinforcement learning in robotics: A survey
Jens Kober, J Andrew Bagnell, and Jan Peters · 2013
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Rapidly exponentially stabilizing control lyapunov functions and hybrid zero dynamics
Aaron D Ames, Kevin Galloway, Koushil Sreenath, and Jessy W Grizzle · 2014
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Adam: A method for stochastic optimization
Diederik P. Kingma and Jimmy Ba · 2015
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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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Practice makes perfect: An optimization-based approach to controlling agile motions for a quadruped robot
Christian Gehring, Stelian Coros, Marco Hutter, Carmine Dario Bellicoso, Huub Heijnen, Remo Diethelm, Michael Bloesch, Péter Fankhauser, Jemin Hwangbo, Mark Hoepflinger, et al · 2016
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Convolutional neural networks for steady flow approximation
Xiaoxiao Guo, Wei Li, and Francesco Iorio · 2016
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Anymal-a highly mobile and dynamic quadrupedal robot
Marco Hutter, Christian Gehring, Dominic Jud, Andreas Lauber, C Dario Bellicoso, Vassilios Tsounis, Jemin Hwangbo, Karen Bodie, Peter Fankhauser, Michael Bloesch, et al · 2016
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Addressing function approximation error in actor-critic methods
Scott Fujimoto, Herke Hoof, and David Meger · 2018
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Per-contact iteration method for solving contact dynamics
Jemin Hwangbo, Joonho Lee, and Marco Hutter · 2018
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Policies modulating trajectory generators
Atil Iscen, Ken Caluwaerts, Jie Tan, Tingnan Zhang, Erwin Coumans, Vikas Sindhwani, and Vincent Vanhoucke · 2018
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Gaze and the control of foot placement when walking in natural terrain
Jonathan Samir Matthis, Jacob L Yates, and Mary M Hayhoe · 2018
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Sim-to-real transfer of robotic control with dynamics randomization
Xue Bin Peng, Marcin Andrychowicz, Wojciech Zaremba, and Pieter Abbeel · 2018
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Sim-to-real: Learning agile locomotion for quadruped robots
Jie Tan, Tingnan Zhang, Erwin Coumans, Atil Iscen, Yunfei Bai, Danijar Hafner, Steven Bohez, and Vincent Vanhoucke · 2018
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Dong Jin Hyun, Jongwoo Lee, SangIn Park, and Sangbae Kim · 2016
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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 · 2016
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Asynchronous methods for deep reinforcement learning
Volodymyr Mnih, Adria Puigdomenech Badia, Mehdi Mirza, Alex Graves, Timothy Lillicrap, Tim Harley, David Silver, and Koray Kavukcuoglu · 2016
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High-dimensional continuous control using generalized advantage estimation
John Schulman, Philipp Moritz, Sergey Levine, Michael I. Jordan, and Pieter Abbeel · 2016
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Model-agnostic meta-learning for fast adaptation of deep networks
Chelsea Finn, Pieter Abbeel, and Sergey Levine · 2017
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Grounded action transformation for robot learning in simulation
Josiah Hanna and Peter Stone · 2017
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Robust trajectory optimization under frictional contact with iterative learning
Jingru Luo and Kris Hauser · 2017
Cited alongside, same era.
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Policy transfer with strategy optimization
Wenhao Yu, C Karen Liu, and Greg Turk · 2018
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Learning to adapt in dynamic, real-world environments through meta-reinforcement learning
Ignasi Clavera, Anusha Nagabandi, Simin Liu, Ronald S. Fearing, Pieter Abbeel, Sergey Levine, and Chelsea Finn · 2019
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Learning to walk via deep reinforcement learning
Tuomas Haarnoja, Sehoon Ha, Aurick Zhou, Jie Tan, George Tucker, and Sergey Levine · 2019
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Learning agile and dynamic motor skills for legged robots
Jemin Hwangbo, Joonho Lee, Alexey Dosovitskiy, Dario Bellicoso, Vassilios Tsounis, Vladlen Koltun, and Marco Hutter · 2019
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An inelastic quadrupedal model discovers four-beat walking, two-beat running, and pseudo-elastic actuation as energetically optimal
Delyle T Polet and John EA Bertram · 2019
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Sim-to-real transfer for biped locomotion
Wenhao Yu, Visak C. V. Kumar, Greg Turk, and C. Karen Liu · 2019
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Environment probing interaction policies
Wenxuan Zhou, Lerrel Pinto, and Abhinav Gupta · 2019
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Learning quadrupedal locomotion over challenging terrain
Joonho Lee, Jemin Hwangbo, Lorenz Wellhausen, Vladlen Koltun, and Marco Hutter · 2020
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Multi-agent manipulation via locomotion using hierarchical sim2real
Ofir Nachum, Michael Ahn, Hugo Ponte, Shixiang Shane Gu, and Vikash Kumar · 2020
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Learning agile robotic locomotion skills by imitating animals
Xue Bin Peng, Erwin Coumans, Tingnan Zhang, Tsang-Wei Edward Lee, Jie Tan, and Sergey Levine · 2020
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Rapidly adaptable legged robots via evolutionary meta-learning
Xingyou Song, Yuxiang Yang, Krzysztof Choromanski, Ken Caluwaerts, Wenbo Gao, Chelsea Finn, and Jie Tan · 2020
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Dynamics randomization revisited: A case study for quadrupedal locomotion
Zhaoming Xie, Xingye Da, Michiel van de Panne, Buck Babich, and Animesh Garg · 2020
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Data efficient reinforcement learning for legged robots
Yuxiang Yang, Ken Caluwaerts, Atil Iscen, Tingnan Zhang, Jie Tan, and Vikas Sindhwani · 2020
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Learning fast adaptation with meta strategy optimization
Wenhao Yu, Jie Tan, Yunfei Bai, Erwin Coumans, and Sehoon Ha · 2020
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RaisimGymTorch
Jemin Hwangbo · 2021
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