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Legged robots have the potential to expand the reach of autonomy beyond paved roads.
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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High-resolution terrain map from multiple sensor data
In-So Kweon and Takeo Kanade · 1992
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Footprint–based quadruped motion synthesis
Nick Torkos and Michiel van de Panne · 1998
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Positive force feedback in bouncing gaits?
Hartmut Geyer, Andre Seyfarth, and Reinhard Blickhan · 2003
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Multiple view geometry in computer vision
Richard Hartley and Andrew Zisserman · 2003
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Policy gradient reinforcement learning for fast quadrupedal locomotion
Nate Kohl and Peter Stone · 2004
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Simbicon: Simple biped locomotion control
KangKang Yin, Kevin Loken, and Michiel Van de Panne · 2007
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Stereo camera based navigation of mobile robots on rough terrain
Annett Chilian and Heiko Hirschmüller · 2009
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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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Control of dynamic gaits for a quadrupedal robot
Christian Gehring, Stelian Coros, Marco Hutter, Michael Blösch, Mark A. Hoepflinger, and Roland Siegwart · 2013
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Robot-centric elevation mapping with uncertainty estimates
Péter Fankhauser, Michael Bloesch, Christian Gehring, Marco Hutter, and Roland Siegwart · 2014
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Unsupervised learning of 3d structure from images
Danilo Jimenez Rezende, SM Eslami, Shakir Mohamed, Peter Battaglia, Max Jaderberg, and Nicolas Heess · 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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Deeploco: Dynamic locomotion skills using hierarchical deep reinforcement learning
Xue Bin Peng, Glen Berseth, KangKang Yin, and Michiel Van De Panne · 2017
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Asymmetric actor critic for image-based robot learning
Lerrel Pinto, Marcin Andrychowicz, Peter Welinder, Wojciech Zaremba, and Pieter Abbeel · 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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Multi-view supervision for single-view reconstruction via differentiable ray consistency
Shubham Tulsiani, Tinghui Zhou, Alexei A Efros, and Jitendra Malik · 2017
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Unsupervised learning of depth and ego-motion from video
Tinghui Zhou, Matthew Brown, Noah Snavely, and David G Lowe · 2017
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Mit cheetah 3: Design and control of a robust, dynamic quadruped robot
Gerardo Bledt, Matthew J Powell, Benjamin Katz, Jared Di Carlo, Patrick M Wensing, and Sangbae Kim · 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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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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Robust rough-terrain locomotion with a quadrupedal robot
Peter Fankhauser, Marko Bjelonic, C. Dario Bellicoso, Takahiro Miki, and Marco Hutter · 2018
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Probabilistic terrain mapping for mobile robots with uncertain localization
Péter Fankhauser, Michael Bloesch, 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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Learning category-specific mesh reconstruction from image collections
Angjoo Kanazawa, Shubham Tulsiani, Alexei A Efros, and Jitendra Malik · 2018
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Deep drone racing: Learning agile flight in dynamic environments
Elia Kaufmann, Antonio Loquercio, Rene Ranftl, Alexey Dosovitskiy, Vladlen Koltun, and Davide Scaramuzza · 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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Trajectory optimization for legged robots with slipping motions
Jan Carius, René Ranftl, Vladlen Koltun, and Marco Hutter · 2019
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Real-time model predictive control for versatile dynamic motions in quadrupedal robots
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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Synsin: End-to-end view synthesis from a single image
Olivia Wiles, Georgia Gkioxari, Richard Szeliski, and Justin Johnson · 2020
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Allsteps: curriculum-driven learning of stepping stone skills
Zhaoming Xie, Hung Yu Ling, Nam Hee Kim, and Michiel van de Panne · 2020
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Worldsheet: Wrapping the world in a 3d sheet for view synthesis from a single image
Ronghang Hu, Nikhila Ravi, Alexander C. Berg, and Deepak Pathak · 2021
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Rma: Rapid motor adaptation for legged robot
Ashish Kumar, Zipeng Fu, Deepak Pathak, and Jitendra Malik · 2021
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Video autoencoder: self-supervised disentanglement of 3d structure and motion
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Yanran Ding, Abhishek Pandala, and Hae-Won Park · 2019
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Frequency-aware model predictive control
Ruben Grandia, Farbod Farshidian, Alexey Dosovitskiy, René Ranftl, and Marco Hutter · 2019
Cited alongside, same era.
Learning from unlabelled videos using contrastive predictive neural 3d mapping
Adam W. Harley, Fangyu Li, Shrinidhi K. Lakshmikanth, Xian Zhou, Hsiao-Yu Fish Tung, and Katerina Fragkiadaki · 2019
Cited alongside, same era.
Learning agile and dynamic motor skills for legged robots
Jemin Hwangbo, J. Lee, A. Dosovitskiy, Dario Bellicoso, Vassilios Tsounis, V. Koltun, and M. Hutter · 2019
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Hierarchical reinforcement learning for quadruped locomotion
Deepali Jain, Atil Iscen, and Ken Caluwaerts · 2019
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Hologan: Unsupervised learning of 3d representations from natural images
Thu Nguyen-Phuoc, Chuan Li, Lucas Theis, Christian Richardt, and Yong-Liang Yang · 2019
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Gpu accelerated real-time traversability mapping
Yiyuan Pan, Xuecheng Xu, Yue Wang, Xiaqing Ding, and Rong Xiong · 2019
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Zihang Lai, Sifei Liu, Alexei A Efros, and Xiaolong Wang · 2021
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Learning to jump from pixels
Gabriel B Margolis, Tao Chen, Kartik Paigwar, Xiang Fu, Donghyun Kim, Sang bae Kim, and Pulkit Agrawal · 2021
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Maniskill: Generalizable manipulation skill benchmark with large-scale demonstrations
Tongzhou Mu, Zhan Ling, Fanbo Xiang, Derek Yang, Xuanlin Li, Stone Tao, Zhiao Huang, Zhiwei Jia, and Hao Su · 2021
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Amp: Adversarial motion priors for stylized physics-based character control
Xue Bin Peng, Ze Ma, Pieter Abbeel, Sergey Levine, and Angjoo Kanazawa · 2021
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Pixelsynth: Generating a 3d-consistent experience from a single image
Chris Rockwell, David F. Fouhey, and Justin Johnson · 2021
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Online learning of unknown dynamics for model-based controllers in legged locomotion
Yu Sun, Wyatt L. Ubellacker, Wen-Loong Ma, Xiang Zhang, Changhao Wang, Noel V. Csomay-Shanklin, Masayoshi Tomizuka, Koushil Sreenath, and Aaron D. Ames · 2021
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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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Legged locomotion in challenging terrains using egocentric vision
Ananye Agarwal, Ashish Kumar, Jitendra Malik, and Deepak Pathak · 2022
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A system for general in-hand object re-orientation
Tao Chen, Jie Xu, and Pulkit Agrawal · 2022
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Vision-guided quadrupedal locomotion in the wild with multi-modal delay randomization
Chieko Imai, Minghao Zhang, Yuchen Zhang, Marcin Kierebinski, Ruihan Yang, Yuzhe Qin, and Xiaolong Wang · 2022
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Learning visual locomotion with cross-modal supervision, 2022
Antonio Loquercio, Ashish Kumar, and Jitendra Malik · 2022
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Rapid locomotion via reinforcement learning
G. Margolis, Ge Yang, Kartik Paigwar, Tao Chen, and Pulkit Agrawal · 2022
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Learning robust perceptive locomotion for quadrupedal robots in the wild
Takahiro Miki, Joonho Lee, Jemin Hwangbo, Lorenz Wellhausen, Vladlen Koltun, and Marco Hutter · 2022
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Learning to walk in minutes using massively parallel deep reinforcement learning
Nikita Rudin, David Hoeller, Philipp Reist, and Marco Hutter · 2022
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Learning to walk by steering: Perceptive quadrupedal locomotion in dynamic environments
Mingyo Seo, Ryan Gupta, Yifeng Zhu, Alexy Skoutnev, Luis Sentis, and Yuke Zhu · 2022
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Learning to navigate sidewalks in outdoor environments
Maks Sorokin, Jie Tan, C. Karen Liu, and Sehoon Ha · 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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Visual-locomotion: Learning to walk on complex terrains with vision
Wenhao Yu, Deepali Jain, Alejandro Escontrela, Atil Iscen, Peng Xu, Erwin Coumans, Sehoon Ha, Jie Tan, and Tingnan Zhang · 2022
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