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Recent years have seen a surge in commercially-available and affordable quadrupedal robots, with many of these platforms being actively used in research and industry.
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Sim-to-real: Learning agile locomotion for quadruped robots
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T. Wang, R. Liao, J. Ba, and S. Fidler · 2018
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BERT: pre-training of deep bidirectional transformers for language understanding
J. Devlin, M. Chang, K. Lee, and K. Toutanova · 2019
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B. Katz, J. Di Carlo, and S. Kim · 2019
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The ingredients of real world robotic reinforcement learning
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One policy to control them all: Shared modular policies for agent-agnostic control
W. Huang, I. Mordatch, and D. Pathak · 2020
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Learning transferable visual models from natural language supervision
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A. Kumar, Z. Fu, D. Pathak, and J. Malik · 2021
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Deepwalk: Omnidirectional bipedal gait by deep reinforcement learning
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Learning to walk via deep reinforcement learning
T. Haarnoja, A. Zhou, S. Ha, J. Tan, G. Tucker, and S. Levine · 2019
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Learning locomotion skills for cassie: Iterative design and sim-to-real
Z. Xie, P. Clary, J. Dao, P. Morais, J. Hurst, and M. van de Panne · 2019
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Closing the sim-to-real loop: Adapting simulation randomization with real world experience
Y. Chebotar, A. Handa, V. Makoviychuk, M. Macklin, J. Issac, N. Ratliff, and D. Fox · 2019
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Sim-to-real transfer for biped locomotion
W. Yu, V. C. Kumar, G. Turk, and C. K. Liu · 2019
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Learning body shape variation in physics-based characters
J. Won and J. Lee · 2019
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Pybullet, a python module for physics simulation for games, robotics and machine learning
E. Coumans and Y. Bai · 2019
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D. Rodriguez and S. Behnke · 2021
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Learning to walk in minutes using massively parallel deep reinforcement learning
N. Rudin, D. Hoeller, P. Reist, and M. Hutter · 2021
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Reinforcement learning for robust parameterized locomotion control of bipedal robots
Z. Li, X. Cheng, X. B. Peng, P. Abbeel, S. Levine, G. Berseth, and K. Sreenath · 2021
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Learning free gait transition for quadruped robots via phase-guided controller
Y. Shao, Y. Jin, X. Liu, W. He, H. Wang, and W. Yang · 2021
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Legged robots that keep on learning: Fine-tuning locomotion policies in the real world
L. Smith, J. C. Kew, X. B. Peng, S. Ha, J. Tan, and S. Levine · 2022
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Rapid locomotion via reinforcement learning
G. B. Margolis, G. Yang, K. Paigwar, T. Chen, and P. Agrawal · 2022
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Concurrent training of a control policy and a state estimator for dynamic and robust legged locomotion
G. Ji, J. Mun, H. Kim, and J. Hwangbo · 2022
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Hierarchical reinforcement learning for precise soccer shooting skills using a quadrupedal robot
Y. Ji, Z. Li, Y. Sun, X. B. Peng, S. Levine, G. Berseth, and K. Sreenath · 2022
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Rloc: Terrain-aware legged locomotion using reinforcement learning and optimal control
S. Gangapurwala, M. Geisert, R. Orsolino, M. Fallon, and I. Havoutis · 2022
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https://github.com/chvmp/champ
chvmp, “champ” · 2022
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S. Reed, K. Zolna, E. Parisotto, S. G. Colmenarejo, A. Novikov, G. Barth-Maron, M. Gimenez, Y. Sulsky, J. Kay, J. T. Springenberg, et al · 2022
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