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Large language models (LLMs) have demonstrated the potential to perform high-level planning.
Trotting, pacing and bounding by a quadruped robot
M. H. Raibert · 1990
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The guidecane-a computerized travel aid for the active guidance of blind pedestrians
J. Borenstein and I. Ulrich · 1997
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Intelligent control of quadruped gallops
D. W. Marhefka, D. E. Orin, J. P. Schmiedeler, and K. J. Waldron · 2003
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Translating structured english to robot controllers
H. Kress-Gazit, G. E. Fainekos, and G. J. Pappas · 2008
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A natural language planner interface for mobile manipulators
T. M. Howard, S. Tellex, and N. Roy · 2014
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Comparing the effect of different spine and leg designs for a small bounding quadruped robot
P. Eckert, A. Spröwitz, H. Witte, and A. J. Ijspeert · 2015
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Proximal policy optimization algorithms
J. Schulman, F. Wolski, P. Dhariwal, A. Radford, and O. Klimov · 2017
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Deep trail-following robotic guide dog in pedestrian environments for people who are blind and visually impaired-learning from virtual and real worlds
T.-K. Chuang, N.-C. Lin, J.-S. Chen, C.-H. Hung, Y.-W. Huang, C. Teng, H. Huang, L.-F. Yu, L. Giarré, and H.-C. Wang · 2018
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Language to action: Towards interactive task learning with physical agents
J. Y. Chai, Q. Gao, L. She, S. Yang, S. Saba-Sadiya, and G. Xu · 2018
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Dynamic locomotion in the mit cheetah 3 through convex model-predictive control
J. Di Carlo, P. M. Wensing, B. Katz, G. Bledt, and S. Kim · 2018
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Gait and trajectory optimization for legged systems through phase-based end-effector parameterization
A. W. Winkler, D. C. Bellicoso, M. Hutter, and J. Buchli · 2018
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Policies modulating trajectory generators
A. Iscen, K. Caluwaerts, J. Tan, T. Zhang, E. Coumans, V. Sindhwani, and V. Vanhoucke · 2018
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Feedback MPC for torque-controlled legged robots
R. Grandia, F. Farshidian, R. Ranftl, and M. Hutter · 2019
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Learning agile and dynamic motor skills for legged robots
J. Hwangbo, J. Lee, A. Dosovitskiy, D. Bellicoso, V. Tsounis, V. Koltun, and M. Hutter · 2019
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Robots that use language
S. Tellex, N. Gopalan, H. Kress-Gazit, and C. Matuszek · 2020
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Language-conditioned imitation learning for robot manipulation tasks
S. Stepputtis, J. Campbell, M. Phielipp, S. Lee, C. Baral, and H. Ben Amor · 2020
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Mpc-based controller with terrain insight for dynamic legged locomotion
O. Villarreal, V. Barasuol, P. M. Wensing, D. G. Caldwell, and C. Semini · 2020
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Data efficient reinforcement learning for legged robots
Y. Yang, K. Caluwaerts, A. Iscen, T. Zhang, J. Tan, and V. Sindhwani · 2020
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Learning agile locomotion via adversarial training
Y. Tang, J. Tan, and T. Harada · 2020
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Quadrupedal robotic guide dog with vocal human-robot interaction
K. Mehrizi · 2021
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Evaluating large language models trained on code
M. Chen, J. Tworek, H. Jun, Q. Yuan, H. P. d. O. Pinto, J. Kaplan, H. Edwards, Y. Burda, N. Joseph, G. Brockman, et al · 2021
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G. B. Margolis, T. Chen, K. Paigwar, X. Fu, D. Kim, S. Kim, and P. Agrawal · 2021
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Socratic models: Composing zero-shot multimodal reasoning with language
A. Zeng, A. Wong, S. Welker, K. Choromanski, F. Tombari, A. Purohit, M. Ryoo, V. Sindhwani, J. Lee, V. Vanhoucke, et al · 2022
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Rt-1: Robotics transformer for real-world control at scale
A. Brohan, N. Brown, J. Carbajal, Y. Chebotar, J. Dabis, C. Finn, K. Gopalakrishnan, K. Hausman, A. Herzog, J. Hsu, et al · 2022
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What matters in language conditioned robotic imitation learning over unstructured data
O. Mees, L. Hermann, and W. Burgard · 2022
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Cliport: What and where pathways for robotic manipulation
M. Shridhar, L. Manuelli, and D. Fox · 2022
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Latte: Language trajectory transformer
A. Bucker, L. Figueredo, S. Haddadin, A. Kapoor, S. Ma, and R. Bonatti · 2022
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Learning a contact-adaptive controller for robust, efficient legged locomotion
X. Da, Z. Xie, D. Hoeller, B. Boots, A. Anandkumar, Y. Zhu, B. Babich, and A. Garg · 2021
Cited alongside, same era.
Sim-to-real learning of all common bipedal gaits via periodic reward composition
J. Siekmann, Y. Godse, A. Fern, and J. Hurst · 2021
Cited alongside, same era.
Isaac Gym: High performance GPU-based physics simulation for robot learning
V. Makoviychuk, L. Wawrzyniak, Y. Guo, M. Lu, K. Storey, M. Macklin, D. Hoeller, N. Rudin, A. Allshire, A. Handa, et al · 2021
Cited alongside, same era.
Training language models to follow instructions with human feedback
L. Ouyang, J. Wu, X. Jiang, D. Almeida, C. Wainwright, P. Mishkin, C. Zhang, S. Agarwal, K. Slama, A. Ray, J. Schulman, J. Hilton, F. Kelton, L. Miller, M. Simens, A. Askell, P. Welinder, P. F. Christiano, J. Leike, and R. Lowe · 2022
Cited alongside, same era.
Palm: Scaling language modeling with pathways
A. Chowdhery, S. Narang, J. Devlin, M. Bosma, G. Mishra, A. Roberts, P. Barham, H. W. Chung, C. Sutton, S. Gehrmann, et al · 2022
Cited alongside, same era.
Chain of thought prompting elicits reasoning in large language models
J. Wei, X. Wang, D. Schuurmans, M. Bosma, E. Chi, Q. Le, and D. Zhou · 2022
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Do as i can, not as i say: Grounding language in robotic affordances
M. Ahn, A. Brohan, N. Brown, Y. Chebotar, O. Cortes, B. David, C. Finn, K. Gopalakrishnan, K. Hausman, A. Herzog, et al · 2022
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Versatile real-time motion synthesis via kino-dynamic mpc with hybrid-systems ddp
H. Li, T. Zhang, W. Yu, and P. M. Wensing · 2022
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Learning to walk in minutes using massively parallel deep reinforcement learning
N. Rudin, D. Hoeller, P. Reist, and M. Hutter · 2022
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Learning to exploit elastic actuators for quadruped locomotion
A. Raffin, D. Seidel, J. Kober, A. Albu-Schäffer, J. Silvério, and F. Stulp · 2022
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Cpg-rl: Learning central pattern generators for quadruped locomotion
G. Bellegarda and A. Ijspeert · 2022
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Chatgpt for robotics: Design principles and model abilities
S. Vemprala, R. Bonatti, A. Bucker, and A. Kapoor · 2023
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https://unitreerobotics.net/
Unitree Robotics, 2023 · 2023
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Text2motion: From natural language instructions to feasible plans
K. Lin, C. Agia, T. Migimatsu, M. Pavone, and J. Bohg · 2023
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Barkour: Benchmarking animal-level agility with quadruped robots
K. Caluwaerts, A. Iscen, J. C. Kew, W. Yu, T. Zhang, D. Freeman, K.-H. Lee, L. Lee, S. Saliceti, V. Zhuang, et al · 2023
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Walk these ways: Tuning robot control for generalization with multiplicity of behavior
G. B. Margolis and P. Agrawal · 2023
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Enhancing value estimation policies by post-hoc symmetry exploitation in motion planning tasks
H. Yazied, S. Ariana, Villegas, C. Evan, C., F. Aleksandra, and T. Lydia · 2023
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GPT-4 technical report
OpenAI · 2023
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