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A motion-based control interface promises flexible robot operations in dangerous environments by combining user intuitions with the robot's motor capabilities.
MCP: learning composable hierarchical control with multiplicative compositional policies
Xue Bin Peng, Michael Chang, Grace Zhang, Pieter Abbeel, and Sergey Levine · 1905
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Hopping in legged systems — modeling and simulation for the two-dimensional one-legged case
M. H. Raibert · 1984
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Policy gradient methods for reinforcement learning with function approximation
Richard S. Sutton, David McAllester, Satinder Singh, and Yishay Mansour · 1999
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Rainer Bischoff and Volker Graefe · 2002
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Mira Dontcheva, Gary Yngve, and Zoran Popović · 2003
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Hartmut Geyer, Andre Seyfarth, and Reinhard Blickhan · 2003
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Optimizing human motion for the control of a humanoid robot
Alla Safonova, Nancy Pollard, and Jessica K Hodgins · 2003
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Bigdog, the rough-terrain quadruped robot
Marc Raibert, Kevin Blankespoor, Gabriel Nelson, and Rob Playter · 2008
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On human motion imitation by humanoid robot
Wael Suleiman, Eiichi Yoshida, Fumio Kanehiro, Jean-Paul Laumond, and Andre Monin · 2008
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Semantic deformation transfer
Ilya Baran, Daniel Vlasic, Eitan Grinspun, and Jovan Popović · 2009
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Animating non-humanoid characters with human motion data
Katsu Yamane, Yuka Ariki, and Jessica Hodgins · 2010
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Sebastian Albrecht, Karinne Ramirez-Amaro, Federico Ruiz-Ugalde, David Weikersdorfer, Marion Leibold, Michael Ulbrich, and Michael Beetz · 2011
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Whole-body imitation of human motions with a nao humanoid
Jonas Koenemann and Maren Bennewitz · 2012
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Control of dynamic gaits for a quadrupedal robot
Christian Gehring, Stelian Coros, Marco Hutter, Michael Bloesch, Markus A. Hoepflinger, and Roland Siegwart · 2013
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Creature features: online motion puppetry for non-human characters
Yeongho Seol, Carol O’Sullivan, and Jehee Lee · 2013
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Adapting human motions to humanoid robots through time warping based on a general motion feasibility index
Yu Zheng and Katsu Yamane · 2015
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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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A hybrid hydrostatic transmission and human-safe haptic telepresence robot
John P. Whitney, Tianyao Chen, John Mars, and Jessica K. Hodgins · 2016
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Meta learning shared hierarchies
Kevin Frans, Jonathan Ho, Xi Chen, Pieter Abbeel, and John Schulman · 2017
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Emergence of locomotion behaviours in rich environments, 2017
Nicolas Heess, Dhruva TB, Srinivasan Sriram, Jay Lemmon, Josh Merel, Greg Wayne, Yuval Tassa, Tom Erez, Ziyu Wang, S. M. Ali Eslami, Martin Riedmiller, and David Silver · 2017
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Phase-functioned neural networks for character control
Daniel Holden, Taku Komura, and Jun Saito · 2017
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Model predictive control based framework for com control of a quadruped robot
Tomislav Horvat, Kamilo Melo, and Auke J. Ijspeert · 2017
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Bipedal oriented whole body master-slave system for dynamic secured locomotion with lip safety constraints
Yasuhiro Ishiguro, Kunio Kojima, Fumihito Sugai, Shunichi Nozawa, Yohei Kakiuchi, Kei Okada, and Masayuki Inaba · 2017
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Learning to schedule control fragments for physics-based characters using deep q-learning
Libin Liu and Jessica Hodgins · 2017
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Improving humanoid posture teleoperation by dynamic synchronization through operator motion anticipation
Joao Ramos and Sangbae Kim · 2017
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Proximal policy optimization algorithms
John Schulman, Filip Wolski, Prafulla Dhariwal, Alec Radford, and Oleg Klimov · 2017
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How to train your dragon: Example-guided control of flapping flight
Jungdam Won, Jongho Park, Kwanyu Kim, and Jehee Lee · 2017
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Mit cheetah 3: Design and control of a robust, dynamic quadruped robot
G. Bledt, M. J. Powell, B. Katz, J. Di Carlo, P. M. Wensing, and S. Kim · 2018
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Learning to dress: Synthesizing human dressing motion via deep reinforcement learning
Alexander Clegg, Wenhao Yu, Jie Tan, C. Karen Liu, and Greg Turk · 2018
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Dynamic locomotion in the mit cheetah 3 through convex model-predictive control
Jared Di Carlo, Patrick M. Wensing, Benjamin Katz, Gerardo Bledt, and Sangbae Kim · 2018
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Slip Detection and Recovery for Quadruped Robots , pages 185–199
Michele Focchi, Victor Barasuol, Marco Frigerio, Darwin G. Caldwell, and Claudio Semini · 2018
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Learning to simulate, 2019
Nataniel Ruiz, Samuel Schulter, and Manmohan Chandraker · 2019
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Neural state machine for character-scene interactions
Sebastian Starke, He Zhang, Taku Komura, and Jun Saito · 2019
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How to pick the domain randomization parameters for sim-to-real transfer of reinforcement learning policies?, 2019
Quan Vuong, Sharad Vikram, Hao Su, Sicun Gao, and Henrik I. Christensen · 2019
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A mobile manipulation system for one-shot teaching of complex tasks in homes
Max Bajracharya, James Borders, Dan Helmick, Thomas Kollar, Michael Laskey, John Leichty, Jeremy Ma, Umashankar Nagarajan, Akiyoshi Ochiai, Josh Petersen, Krishna Shankar, Kevin Stone, and Yutaka Takaoka · 2020
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Nonparametric motion retargeting for humanoid robots on shared latent space
Sungjoon Choi, Matt Pan, and Joohyung Kim · 2020
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Tuomas Haarnoja, Sehoon Ha, Aurick Zhou, Jie Tan, George Tucker, and Sergey Levine · 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
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Learning basketball dribbling skills using trajectory optimization and deep reinforcement learning
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Azure kinect dk – develop ai models: Microsoft azure, 2018
Microsoft · 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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Representation-free model predictive control for dynamic motions in quadrupeds
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Heuristic Planning for Rough Terrain Locomotion in Presence of External Disturbances and Variable Perception Quality , pages 165–209
Michele Focchi, Romeo Orsolino, Marco Camurri, Victor Barasuol, Carlos Mastalli, Darwin G. Caldwell, and Claudio Semini · 2020
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Learning to walk in the real world with minimal human effort
Sehoon Ha, Peng Xu, Zhenyu Tan, Sergey Levine, and Jie Tan · 2020
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Learned motion matching
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Learning quadrupedal locomotion over challenging terrain
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Carl: Controllable agent with reinforcement learning for quadruped locomotion
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Learning agile robotic locomotion skills by imitating animals
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Local motion phases for learning multi-contact character movements
Sebastian Starke, Yiwei Zhao, Taku Komura, and Kazi Zaman · 2020
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A1, 2020
Unitree · 2020
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A scalable approach to control diverse behaviors for physically simulated characters
Jungdam Won, Deepak Gopinath, and Jessica Hodgins · 2020
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Dynamic legged manipulation of a ball through multi-contact optimization
Chenyu Yang, Bike Zhang, Jun Zeng, Ayush Agrawal, and Koushil Sreenath · 2020
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Learning fast adaptation with meta strategy optimization, 2020
Wenhao Yu, Jie Tan, Yunfei Bai, Erwin Coumans, and Sehoon Ha · 2020
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Self-supervised motion retargeting with safety guarantee
Sungjoon Choi, Min Jae Song, Hyemin Ahn, and Joohyung Kim · 2021
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A bipedal walking robot that can fly, slackline, and skateboard
Kyunam Kim, Patrick Spieler, Elena-Sorina Lupu, Alireza Ramezani, and Soon-Jo Chung · 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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Learning a family of motor skills from a single motion clip
Seyoung Lee, Sunmin Lee, Yongwoo Lee, and Jehee Lee · 2021
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Reinforcement learning for robust parameterized locomotion control of bipedal robots
Zhongyu Li, Xuxin Cheng, Xue Bin Peng, Pieter Abbeel, Sergey Levine, Glen Berseth, and Koushil Sreenath · 2021
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Legged robots that keep on learning: Fine-tuning locomotion policies in the real world, 2021
Laura Smith, J. Chase Kew, Xue Bin Peng, Sehoon Ha, Jie Tan, and Sergey Levine · 2021
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Neural animation layering for synthesizing martial arts movements
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Glide: Generalizable quadrupedal locomotion in diverse environments with a centroidal model
Zhaoming Xie, Xingye Da, Buck Babich, Animesh Garg, and Michiel van de Panne · 2021
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