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Recently, reinforcement learning has become a promising and polular solution for robot legged locomotion.
Markov decision processes
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David B Grimes, Rawichote Chalodhorn, and Rajesh PN Rao · 2006
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Wael Suleiman, Eiichi Yoshida, Fumio Kanehiro, Jean-Paul Laumond, and André Monin · 2008
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Mode-adaptive neural networks for quadruped motion control
He Zhang, Sebastian Starke, Taku Komura, and Jun Saito · 2018
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Robust recovery controller for a quadrupedal robot using deep reinforcement learning
Joonho Lee, Jemin Hwangbo, and Marco Hutter · 2019
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Iterative reinforcement learning based design of dynamic locomotion skills for cassie
Zhaoming Xie, Patrick Clary, Jeremy Dao, Pedro Morais, Jonathan Hurst, and Michiel van de Panne · 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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Xue Bin Peng, Erwin Coumans, Tingnan Zhang, Tsang-Wei Lee, Jie Tan, and Sergey Levine · 2020
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Emergent real-world robotic skills via unsupervised off-policy reinforcement learning
Archit Sharma, Michael Ahn, Sergey Levine, Vikash Kumar, Karol Hausman, and Shixiang Gu · 2020
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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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Adversarial motion priors make good substitutes for complex reward functions
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Adapting rapid motor adaptation for bipedal robots
Ashish Kumar, Zhongyu Li, Jun Zeng, Deepak Pathak, Koushil Sreenath, and Jitendra Malik · 2022
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Concurrent training of a control policy and a state estimator for dynamic and robust legged locomotion
Gwanghyeon Ji, Juhyeok Mun, Hyeongjun Kim, and Jemin Hwangbo · 2022
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Ashish Kumar, Zipeng Fu, Deepak Pathak, and Jitendra Malik · 2021
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Learning vision-guided quadrupedal locomotion end-to-end with cross-modal transformers
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Amp: Adversarial motion priors for stylized physics-based character control
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Dynamics randomization revisited: A case study for quadrupedal locomotion
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Gabriel B Margolis, Tao Chen, Kartik Paigwar, Xiang Fu, Donghyun Kim, Sangbae Kim, and Pulkit Agrawal · 2021
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Blind bipedal stair traversal via sim-to-real reinforcement learning
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Sim-to-real learning of all common bipedal gaits via periodic reward composition
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Imitate and repurpose: Learning reusable robot movement skills from human and animal behaviors
Steven Bohez, Saran Tunyasuvunakool, Philemon Brakel, Fereshteh Sadeghi, Leonard Hasenclever, Yuval Tassa, Emilio Parisotto, Jan Humplik, Tuomas Haarnoja, Roland Hafner, et al · 2022
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Learning robust perceptive locomotion for quadrupedal robots in the wild
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Rapid locomotion via reinforcement learning
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Daydreamer: World models for physical robot learning
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A walk in the park: Learning to walk in 20 minutes with model-free reinforcement learning
Laura Smith, Ilya Kostrikov, and Sergey Levine · 2022
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Ase: Large-scale reusable adversarial skill embeddings for physically simulated characters
Xue Bin Peng, Yunrong Guo, Lina Halper, Sergey Levine, and Sanja Fidler · 2022
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