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We exploit the complementary strengths of vision and proprioception to develop a point-goal navigation system for legged robots, called VP-Nav.
A formal basis for the heuristic determination of minimum cost paths
Peter E Hart, Nils J Nilsson, and Bertram Raphael · 1968
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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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The potential field approach and operational space formulation in robot control
Oussama Khatib · 1986
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Real-time obstacle avoidance for manipulators and mobile robots
Oussama Khatib · 1986
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Optimal and efficient path planning for partially known environments
Anthony Stentz · 1994
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Fast marching methods for robotic navigation with constraints
R Kimmel and JA Sethian · 1996
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Rapidly-exploring random trees: A new tool for path planning
Steven M LaValle · 1998
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Fast marching methods
James A Sethian · 1999
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Fastslam: A factored solution to the simultaneous localization and mapping problem
Michael Montemerlo, Sebastian Thrun, Daphne Koller, and Ben Wegbreit · 2002
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Probabilistic robotics
Sebastian Thrun · 2002
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Positive force feedback in bouncing gaits?
Hartmut Geyer, Andre Seyfarth, and Reinhard Blickhan · 2003
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Fast replanning for navigation in unknown terrain
Sven Koenig and Maxim Likhachev · 2005
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Navigation planning for legged robots
Joel Chestnutt · 2007
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Simbicon: Simple biped locomotion control
KangKang Yin, Kevin Loken, and Michiel Van de Panne · 2007
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A control architecture for quadruped locomotion over rough terrain
J. Zico Kolter, Mike P Rodgers, and Andrew Y. Ng · 2008
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Stereo camera based navigation of mobile robots on rough terrain
Annett Chilian and Heiko Hirschmüller · 2009
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Learning locomotion over rough terrain using terrain templates
Mrinal Kalakrishnan, Jonas Buchli, Peter Pastor, and Stefan Schaal · 2009
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Computational principles of mobile robotics
Gregory Dudek and Michael Jenkin · 2010
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Autonomous navigation for bigdog
David Wooden, Matthew Malchano, Kevin Blankespoor, Andrew Howardy, Alfred A Rizzi, and Marc Raibert · 2010
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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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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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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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Visual simultaneous localization and mapping: a survey
Jorge Fuentes-Pacheco, José Ruiz-Ascencio, and Juan Manuel Rendón-Mancha · 2015
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Adam: A method for stochastic optimization
Diederik P. Kingma and Jimmy Ba · 2015
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On-line and on-board planning and perception for quadrupedal locomotion
Carlos Mastalli, Ioannis Havoutis, Alexander W Winkler, Darwin G Caldwell, and Claudio Semini · 2015
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3d dynamic walking with underactuated humanoid robots: A direct collocation framework for optimizing hybrid zero dynamics
Ayonga Hereid, Eric A Cousineau, Christian M Hubicki, and Aaron D Ames · 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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Implementation of trot-to-gallop transition and subsequent gallop on the mit cheetah i
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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Navigation planning for legged robots in challenging terrain
Martin Wermelinger, Péter Fankhauser, Remo Diethelm, Philipp Krüsi, Roland Siegwart, and Marco Hutter · 2016
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Matterport3d: Learning from rgb-d data in indoor environments
Angel Chang, Angela Dai, Thomas Funkhouser, Maciej Halber, Matthias Niessner, Manolis Savva, Shuran Song, Andy Zeng, and Yinda Zhang · 2017
Cited alongside, same era.
Cognitive mapping and planning for visual navigation
Saurabh Gupta, James Davidson, Sergey Levine, Rahul Sukthankar, and Jitendra Malik · 2017
Cited alongside, same era.
Grounded action transformation for robot learning in simulation
Josiah Hanna and Peter Stone · 2017
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Intel realsense stereoscopic depth cameras
Leonid Keselman, John Iselin Woodfill, Anders Grunnet-Jepsen, and Achintya Bhowmik · 2017
Cited alongside, same era.
Memory augmented control networks
Arbaaz Khan, Clark Zhang, Nikolay Atanasov, Konstantinos Karydis, Vijay Kumar, and Daniel D. Lee · 2017
Cited alongside, same era.
Fast and continuous foothold adaptation for dynamic locomotion through cnns
Octavio Antonio Villarreal Magana, Victor Barasuol, Marco Camurri, Luca Franceschi, Michele Focchi, Massimiliano Pontil, Darwin G Caldwell, and Claudio Semini · 2019
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Pyrobot: An open-source robotics framework for research and benchmarking
Adithyavairavan Murali, Tao Chen, Kalyan Vasudev Alwala, Dhiraj Gandhi, Lerrel Pinto, Saurabh Gupta, and Abhinav Gupta · 2019
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Habitat: A Platform for Embodied AI Research
Manolis Savva, Abhishek Kadian, Oleksandr Maksymets, Yili Zhao, Erik Wijmans, Bhavana Jain, Julian Straub, Jia Liu, Vladlen Koltun, Jitendra Malik, Devi Parikh, and Dhruv Batra · 2019
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Dd-ppo: Learning near-perfect pointgoal navigators from 2.5 billion frames
Erik Wijmans, Abhishek Kadian, Ari Morcos, Stefan Lee, Irfan Essa, Devi Parikh, Manolis Savva, and Dhruv Batra · 2019
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Sim-to-real transfer for biped locomotion
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Carlos Mastalli, Michele Focchi, Ioannis Havoutis, Andreea Radulescu, Sylvain Calinon, Jonas Buchli, Darwin G Caldwell, and Claudio Semini · 2017
Cited alongside, same era.
Neural map: Structured memory for deep reinforcement learning
Emilio Parisotto and Ruslan Salakhutdinov · 2017
Cited alongside, same era.
Proximal policy optimization algorithms
John Schulman, Filip Wolski, Prafulla Dhariwal, Alec Radford, and Oleg Klimov · 2017
Cited alongside, same era.
Domain randomization for transferring deep neural networks from simulation to the real world
Josh Tobin, Rachel Fong, Alex Ray, Jonas Schneider, Wojciech Zaremba, and Pieter Abbeel · 2017
Cited alongside, same era.
Preparing for the unknown: Learning a universal policy with online system identification
Wenhao Yu, Jie Tan, C. Karen Liu, and Greg Turk · 2017
Cited alongside, same era.
Neural slam: Learning to explore with external memory
Jingwei Zhang, Lei Tai, Ming Liu, Joschka Boedecker, and Wolfram Burgard · 2017
Cited alongside, same era.
Target-driven visual navigation in indoor scenes using deep reinforcement learning
Yuke Zhu, Roozbeh Mottaghi, Eric Kolve, Joseph J Lim, Abhinav Gupta, Li Fei-Fei, and Ali Farhadi · 2017
Cited alongside, same era.
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 to explore using active neural slam
Devendra Singh Chaplot, Dhiraj Gandhi, Saurabh Gupta, Abhinav Gupta, and Ruslan Salakhutdinov · 2020
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Object goal navigation using goal-oriented semantic exploration
Devendra Singh Chaplot, Dhiraj Prakashchand Gandhi, Abhinav Gupta, and Ruslan Salakhutdinov · 2020
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Integrating egocentric localization for more realistic point-goal navigation agents
Samyak Datta, Oleksandr Maksymets, Judy Hoffman, Stefan Lee, Dhruv Batra, and Devi Parikh · 2020
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Path planning with local motion estimations
Jérôme Guzzi, R Omar Chavez-Garcia, Mirko Nava, Luca Maria Gambardella, and Alessandro Giusti · 2020
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Contact-aided invariant extended kalman filtering for robot state estimation
Ross Hartley, Maani Ghaffari, Ryan M Eustice, and Jessy W Grizzle · 2020
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Perceptive locomotion in rough terrain–online foothold optimization
Fabian Jenelten, Takahiro Miki, Aravind E Vijayan, Marko Bjelonic, and Marco Hutter · 2020
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Vision aided dynamic exploration of unstructured terrain with a small-scale quadruped robot
Donghyun Kim, D Carballo, Jared Di Carlo, Benjamin Katz, Gerardo Bledt, Bryan Lim, and Sangbae Kim · 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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Learning navigation skills for legged robots with learned robot embeddings
Joanne Truong, Denis Yarats, Tianyu Li, Franziska Meier, Sonia Chernova, Dhruv Batra, and Akshara Rai · 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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Minimizing energy consumption leads to the emergence of gaits in legged robots
Zipeng Fu, Ashish Kumar, Jitendra Malik, and Deepak Pathak · 2021
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Learning a state representation and navigation in cluttered and dynamic environments
David Hoeller, Lorenz Wellhausen, Farbod Farshidian, and Marco Hutter · 2021
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Vision-guided quadrupedal locomotion in the wild with multi-modal delay randomization
Chieko Sarah Imai, Minghao Zhang, Yuchen Zhang, Marcin Kierebinski, Ruihan Yang, Yuzhe Qin, and Xiaolong Wang · 2021
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RMA: Rapid Motor Adaptation for Legged Robots
Ashish Kumar, Zipeng Fu, Deepak Pathak, and Jitendra Malik · 2021
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Planning in learned latent action spaces for generalizable legged locomotion
Tianyu Li, Roberto Calandra, Deepak Pathak, Yuandong Tian, Franziska Meier, and Akshara Rai · 2021
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Memory-augmented reinforcement learning for image-goal navigation
Lina Mezghani, Sainbayar Sukhbaatar, Thibaut Lavril, Oleksandr Maksymets, Dhruv Batra, Piotr Bojanowski, and Karteek Alahari · 2021
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Habitat 2.0: Training home assistants to rearrange their habitat
Andrew Szot, Alex Clegg, Eric Undersander, Erik Wijmans, Yili Zhao, John Turner, Noah Maestre, Mustafa Mukadam, Devendra Chaplot, Oleksandr Maksymets, Aaron Gokaslan, Vladimir Vondrus, Sameer Dharur, Franziska Meier, Wojciech Galuba, Angel Chang, Zsolt Kira, Vladlen Koltun, Jitendra Malik, Manolis Savva, and Dhruv Batra · 2021
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Rough terrain navigation for legged robots using reachability planning and template learning
Lorenz Wellhausen and Marco Hutter · 2021
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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 · 2021
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Real-time optimal navigation planning using learned motion costs
Bowen Yang, Lorenz Wellhausen, Takahiro Miki, Ming Liu, and Marco Hutter · 2021
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Fast and efficient locomotion via learned gait transitions
Yuxiang Yang, Tingnan Zhang, Erwin Coumans, Jie Tan, and Byron Boots · 2021
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The surprising effectiveness of visual odometry techniques for embodied pointgoal navigation
Xiaoming Zhao, Harsh Agrawal, Dhruv Batra, and Alexander G Schwing · 2021
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Legged robots that keep on learning: Fine-tuning locomotion policies in the real world
Laura Smith, J Chase Kew, Xue Bin Peng, Sehoon Ha, Jie Tan, and Sergey Levine · 2022
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Learning vision-guided quadrupedal locomotion end-to-end with cross-modal transformers
Ruihan Yang, Minghao Zhang, Nicklas Hansen, Huazhe Xu, and Xiaolong Wang · 2022
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