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Animals have evolved various agile locomotion strategies, such as sprinting, leaping, and jumping.
Imagenet: A large-scale hierarchical image database
Jia Deng, Wei Dong, Richard Socher, Li-Jia Li, Kai Li, and Li Fei-Fei · 2009
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Benchmarking human-like posture and locomotion of humanoid robots: a preliminary scheme
Diego Torricelli, Rahman SM Mizanoor, Jose Gonzalez, Vittorio Lippi, Georg Hettich, Lorenz Asslaender, Maarten Weckx, Bram Vanderborght, Strahinja Dosen, Massimo Sartori, et al · 2014
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Openai gym, 2016
Greg Brockman, Vicki Cheung, Ludwig Pettersson, Jonas Schneider, John Schulman, Jie Tang, and Wojciech Zaremba · 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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High-speed bounding with the mit cheetah 2: Control design and experiments
Hae-Won Park, Patrick M Wensing, 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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Attention is all you need
Ashish Vaswani, Noam Shazeer, Niki Parmar, Jakob Uszkoreit, Llion Jones, Aidan N Gomez, Łukasz Kaiser, and Illia Polosukhin · 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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Impala: Scalable distributed deep-rl with importance weighted actor-learner architectures
Lasse Espeholt, Hubert Soyer, Remi Munos, Karen Simonyan, Vlad Mnih, Tom Ward, Yotam Doron, Vlad Firoiu, Tim Harley, Iain Dunning, et al · 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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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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Yuval Tassa, Yotam Doron, Alistair Muldal, Tom Erez, Yazhe Li, Diego de Las Casas, David Budden, Abbas Abdolmaleki, Josh Merel, Andrew Lefrancq, et al · 2018
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Benchmarking agility for multilegged terrestrial robots
Peter Eckert and Auke J Ijspeert · 2019
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Learning agile and dynamic motor skills for legged robots
Jemin Hwangbo, Joonho Lee, Alexey Dosovitskiy, Dario Bellicoso, Vassilios Tsounis, Vladlen Koltun, and Marco Hutter · 2019
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Mini cheetah: A platform for pushing the limits of dynamic quadruped control
Benjamin Katz, Jared Di Carlo, and Sangbae Kim · 2019
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Highly dynamic quadruped locomotion via whole-body impulse control and model predictive control
Donghyun Kim, Jared Di Carlo, Benjamin Katz, Gerardo Bledt, and Sangbae Kim · 2019
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Optimized jumping on the mit cheetah 3 robot
Quan Nguyen, Matthew J Powell, Benjamin Katz, Jared Di Carlo, and Sangbae Kim · 2019
Cited alongside, same era.
Language models are unsupervised multitask learners
Alec Radford, Jeffrey Wu, Rewon Child, David Luan, Dario Amodei, Ilya Sutskever, et al · 2019
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Video PreTraining (VPT): Learning to act by watching unlabeled online videos
Bowen Baker, Ilge Akkaya, Peter Zhokov, Joost Huizinga, Jie Tang, Adrien Ecoffet, Brandon Houghton, Raul Sampedro, and Jeff Clune · 2022
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Rt-1: Robotics transformer for real-world control at scale
Anthony Brohan, Noah Brown, Justice Carbajal, Yevgen Chebotar, Joseph Dabis, Chelsea Finn, Keerthana Gopalakrishnan, Karol Hausman, Alex Herzog, Jasmine Hsu, et al · 2022
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Rapid and reliable quadruped motion planning with omnidirectional jumping
Matthew Chignoli, Savva Morozov, and Sangbae Kim · 2022
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Multi-game decision transformers
Kuang-Huei Lee, Ofir Nachum, Sherry Yang, Lisa Lee, C Daniel Freeman, Sergio Guadarrama, Ian Fischer, Winnie Xu, Eric Jang, Henryk Michalewski, et al · 2022
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PI-ARS: Accelerating Evolution-Learned Visual-Locomotion with Predictive Information Representations
Kuang-Huei Lee, Ofir Nachum, Tingnan Zhang, Sergio Guadarrama, Jie Tan, and Wenhao Yu · 2022
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Learning quadrupedal locomotion over challenging terrain
Joonho Lee, Jemin Hwangbo, Lorenz Wellhausen, Vladlen Koltun, and Marco Hutter · 2020
Cited alongside, same era.
Learning agile robotic locomotion skills by imitating animals
Xue Bin Peng, Erwin Coumans, Tingnan Zhang, Tsang-Wei Lee, Jie Tan, and Sergey Levine · 2020
Cited alongside, same era.
Brax–a differentiable physics engine for large scale rigid body simulation
C Daniel Freeman, Erik Frey, Anton Raichuk, Sertan Girgin, Igor Mordatch, and Olivier Bachem · 2021
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Learning agile locomotion skills with a mentor
Atil Iscen, George Yu, Alejandro Escontrela, Deepali Jain, Jie Tan, and Ken Caluwaerts · 2021
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Rma: Rapid motor adaptation for legged robots
Ashish Kumar, Zipeng Fu, Deepak Pathak, and Jitendra Malik · 2021
Cited alongside, same era.
Gabriel B Margolis, Tao Chen, Kartik Paigwar, Xiang Fu, Donghyun Kim, Sangbae Kim, and Pulkit Agrawal · 2021
Cited alongside, same era.
Sim-to-real learning of all common bipedal gaits via periodic reward composition
Jonah Siekmann, Yesh Godse, Alan Fern, and Jonathan Hurst · 2021
Cited alongside, same era.
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Zero-shot retargeting of learned quadruped locomotion policies using hybrid kinodynamic model predictive control
He Li, Wenhao Yu, Tingnan Zhang, and Patrick M Wensing · 2022
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Rapid locomotion via reinforcement learning
Gabriel B 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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Scott Reed, Konrad Zolna, Emilio Parisotto, Sergio Gomez Colmenarejo, Alexander Novikov, Gabriel Barth-Maron, Mai Gimenez, Yury Sulsky, Jackie Kay, Jost Tobias Springenberg, et al · 2022
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Advanced skills by learning locomotion and local navigation end-to-end
Nikita Rudin, David Hoeller, Marko Bjelonic, 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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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 quadrupedal locomotion on deformable terrain
Suyoung Choi, Gwanghyeon Ji, Jeongsoo Park, Hyeongjun Kim, Juhyeok Mun, Jeong Hyun Lee, and Jemin Hwangbo · 2023
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Regulations for Agility Trials and Agility Course Test (ACT)
American Kennel Club · 2023
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