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Parkour is a grand challenge for legged locomotion that requires robots to overcome various obstacles rapidly in complex environments.
Experiments in balance with a 3d one-legged hopping machine
M. H. Raibert, H. B. Brown Jr, and M. Chepponis · 1984
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Terrain mapping for a roving planetary explorer
I.-S. Kweon, M. Hebert, E. Krotkov, and T. Kanade · 1989
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Visual space perception and visually directed action
J. M. Loomis, J. A. Da Silva, N. Fujita, and S. S. Fukusima · 1992
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High-resolution terrain map from multiple sensor data
I.-S. Kweon and T. Kanade · 1992
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Understanding the roles of vision in the control of human locomotion
A. E. Patla · 1997
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The effects of distant and on-line visual information on the control of approach phase and step over an obstacle during locomotion
A. A. Mohagheghi, R. Moraes, and A. E. Patla · 2004
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Real-time localization and elevation mapping within urban search and rescue scenarios
A. Kleiner and C. Dornhege · 2007
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A control architecture for quadruped locomotion over rough terrain
J. Z. Kolter, M. P. Rodgers, and A. Y. Ng · 2008
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Stereo camera based navigation of mobile robots on rough terrain
A. Chilian and H. Hirschmüller · 2009
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Learning locomotion over rough terrain using terrain templates
M. Kalakrishnan, J. Buchli, P. Pastor, and S. Schaal · 2009
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A reduction of imitation learning and structured prediction to no-regret online learning
S. Ross, G. Gordon, and D. Bagnell · 2011
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Visual odometry [tutorial]
D. Scaramuzza and F. Fraundorfer · 2011
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Design and architecture of the unified modular snake robot
C. Wright, A. Buchan, B. Brown, J. Geist, M. Schwerin, D. Rollinson, M. Tesch, and H. Choset · 2012
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Tail assisted dynamic self righting
A. M. Johnson, T. Libby, E. Chang-Siu, M. Tomizuka, R. J. Full, and D. E. Koditschek · 2012
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Estimating terrain elevation maps from sparse and uncertain multi-sensor data
D. Belter, P. Łabcki, and P. Skrzypczyński · 2012
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Performance analysis and terrain classification for a legged robot over rough terrain
F. L. G. Bermudez, R. C. Julian, D. W. Haldane, P. Abbeel, and R. S. Fearing · 2012
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Contact-invariant optimization for hand manipulation
I. Mordatch, Z. Popović, and E. Todorov · 2012
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Ground reaction forces and loading rates associated with parkour and traditional drop landing techniques
D. L. Puddle and P. S. Maulder · 2013
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Visual control of foot placement when walking over complex terrain
J. S. Matthis and B. R. Fajen · 2014
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Robot-centric elevation mapping with uncertainty estimates
P. Fankhauser, M. Bloesch, C. Gehring, M. Hutter, and R. Siegwart · 2014
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Svo: Fast semi-direct monocular visual odometry
C. Forster, M. Pizzoli, and D. Scaramuzza · 2014
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Empirical evaluation of gated recurrent neural networks on sequence modeling
J. Chung, C. Gulcehre, K. Cho, and Y. Bengio · 2014
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Online planning for autonomous running jumps over obstacles in high-speed quadrupeds
H.-W. Park, P. M. Wensing, S. Kim, et al · 2015
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Robust visual inertial odometry using a direct ekf-based approach
M. Bloesch, S. Omari, M. Hutter, and R. Siegwart · 2015
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Dense visual-inertial navigation system for mobile robots
S. Omari, M. Bloesch, P. Gohl, and R. Siegwart · 2015
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Human-in-the-loop control of a humanoid robot for disaster response: a report from the darpa robotics challenge trials
M. DeDonato, V. Dimitrov, R. Du, R. Giovacchini, K. Knoedler, X. Long, F. Polido, M. A. Gennert, T. Padır, S. Feng, et al · 2015
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On-line and on-board planning and perception for quadrupedal locomotion
C. Mastalli, I. Havoutis, A. W. Winkler, D. G. Caldwell, and C. Semini · 2015
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Practice makes perfect: An optimization-based approach to controlling agile motions for a quadruped robot
C. Gehring, S. Coros, M. Hutter, C. D. Bellicoso, H. Heijnen, R. Diethelm, M. Bloesch, P. Fankhauser, J. Hwangbo, M. Hoepflinger, et al · 2016
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Navigation planning for legged robots in challenging terrain
M. Wermelinger, P. Fankhauser, R. Diethelm, P. Krüsi, R. Siegwart, and M. Hutter · 2016
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Dynamic walking on randomly-varying discrete terrain with one-step preview
Q. Nguyen, A. Agrawal, X. Da, W. C. Martin, H. Geyer, J. W. Grizzle, and K. Sreenath · 2017
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Deep kernels for optimizing locomotion controllers
R. Antonova, A. Rai, and C. G. Atkeson · 2017
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Trajectory and foothold optimization using low-dimensional models for rough terrain locomotion
C. Mastalli, M. Focchi, I. Havoutis, A. Radulescu, S. Calinon, J. Buchli, D. G. Caldwell, and C. Semini · 2017
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Deeploco: Dynamic locomotion skills using hierarchical deep reinforcement learning
X. B. Peng, G. Berseth, K. Yin, and M. Van De Panne · 2017
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Proximal policy optimization algorithms
J. Schulman, F. Wolski, P. Dhariwal, A. Radford, and O. Klimov · 2017
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Sim-to-real: Learning agile locomotion for quadruped robots
J. Tan, T. Zhang, E. Coumans, A. Iscen, Y. Bai, D. Hafner, S. Bohez, and V. Vanhoucke · 2018
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Learning to walk via deep reinforcement learning
T. Haarnoja, S. Ha, A. Zhou, J. Tan, G. Tucker, and S. Levine · 2018
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Probabilistic terrain mapping for mobile robots with uncertain localization
P. Fankhauser, M. Bloesch, and M. Hutter · 2018
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Learning ground traversability from simulations
R. O. Chavez-Garcia, J. Guzzi, L. M. Gambardella, and A. Giusti · 2018
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Exploration by random network distillation
Y. Burda, H. Edwards, A. Storkey, and O. Klimov · 2018
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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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Sim-to-real transfer for biped locomotion
W. Yu, V. C. V. Kumar, G. Turk, and C. K. Liu · 2019
Cited alongside, same era.
Optimized jumping on the mit cheetah 3 robot
Q. Nguyen, M. J. Powell, B. Katz, J. Di Carlo, and S. Kim · 2019
Cited alongside, same era.
Alma-articulated locomotion and manipulation for a torque-controllable robot
C. D. Bellicoso, K. Krämer, M. Stäuble, D. Sako, F. Jenelten, M. Bjelonic, and M. Hutter · 2019
Cited alongside, same era.
Learning to adapt in dynamic, real-world environments through meta-reinforcement learning
A. Nagabandi, I. Clavera, S. Liu, R. S. Fearing, P. Abbeel, S. Levine, and C. Finn · 2019
Cited alongside, same era.
Gpu accelerated real-time traversability mapping
Y. Pan, X. Xu, Y. Wang, X. Ding, and R. Xiong · 2019
Coupling vision and proprioception for navigation of legged robots
Z. Fu, A. Kumar, A. Agarwal, H. Qi, J. Malik, and D. Pathak · 2022
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Learning robust perceptive locomotion for quadrupedal robots in the wild
T. Miki, J. Lee, J. Hwangbo, L. Wellhausen, V. Koltun, and M. Hutter · 2022
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Legged locomotion in challenging terrains using egocentric vision
A. Agarwal, A. Kumar, J. Malik, and D. Pathak · 2022
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Learning visual locomotion with cross-modal supervision
A. Loquercio, A. Kumar, and J. Malik · 2022
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Neural scene representation for locomotion on structured terrain
D. Hoeller, N. Rudin, C. Choy, A. Anandkumar, and M. Hutter · 2022
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Cited alongside, same era.
State estimation for legged robots using contact-centric leg odometry
S. Yang, H. Kumar, Z. Gu, X. Zhang, M. Travers, and H. Choset · 2019
Cited alongside, same era.
Robust legged robot state estimation using factor graph optimization
D. Wisth, M. Camurri, and M. Fallon · 2019
Cited alongside, same era.
Fast and continuous foothold adaptation for dynamic locomotion through cnns
O. A. V. Magana, V. Barasuol, M. Camurri, L. Franceschi, M. Focchi, M. Pontil, D. G. Caldwell, and C. Semini · 2019
Cited alongside, same era.
Learning quadrupedal locomotion over challenging terrain
J. Lee, J. Hwangbo, L. Wellhausen, V. Koltun, and M. Hutter · 2020
Cited alongside, same era.
Rapidly adaptable legged robots via evolutionary meta-learning
X. Song, Y. Yang, K. Choromanski, K. Caluwaerts, W. Gao, C. Finn, and J. Tan · 2020
Cited alongside, same era.
Learning to walk in the real world with minimal human effort
S. Ha, P. Xu, Z. Tan, S. Levine, and J. Tan · 2020
Cited alongside, same era.
Z. Fu, X. Cheng, and D. Pathak · 2022
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Combining learning-based locomotion policy with model-based manipulation for legged mobile manipulators
Y. Ma, F. Farshidian, T. Miki, J. Lee, and M. Hutter · 2022
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Continuous jumping for legged robots on stepping stones via trajectory optimization and model predictive control
C. Nguyen, L. Bao, and Q. Nguyen · 2022
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URL https://agilityrobotics.com/news/2022/cassie-sets-a-guinness-world-record
Cassie sets a guinness world record · 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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Advanced skills by learning locomotion and local navigation end-to-end
N. Rudin, D. Hoeller, M. Bjelonic, and M. Hutter · 2022
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Learning agile skills via adversarial imitation of rough partial demonstrations
C. Li, M. Vlastelica, S. Blaes, J. Frey, F. Grimminger, and G. Martius · 2022
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Efficient multitask learning with an embodied predictive model for door opening and entry with whole-body control
H. Ito, K. Yamamoto, H. Mori, and T. Ogata · 2022
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Creating a dynamic quadrupedal robotic goalkeeper with reinforcement learning
X. Huang, Z. Li, Y. Xiang, Y. Ni, Y. Chi, Y. Li, L. Yang, X. B. Peng, and K. Sreenath · 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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Vilens: Visual, inertial, lidar, and leg odometry for all-terrain legged robots
D. Wisth, M. Camurri, and M. Fallon · 2022
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Learning inertial odometry for dynamic legged robot state estimation
R. Buchanan, M. Camurri, F. Dellaert, and M. Fallon · 2022
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Vision-aided dynamic quadrupedal locomotion on discrete terrain using motion libraries
A. Agrawal, S. Chen, A. Rai, and K. Sreenath · 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 grasp the ungraspable with emergent extrinsic dexterity
W. Zhou and D. Held · 2022
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S. Schmidgall and J. Hays · 2023
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Vinl: Visual navigation and locomotion over obstacles
S. Kareer, N. Yokoyama, D. Batra, S. Ha, and J. Truong · 2023
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Learning to walk by steering: Perceptive quadrupedal locomotion in dynamic environments
M. Seo, R. Gupta, Y. Zhu, A. Skoutnev, L. Sentis, and Y. Zhu · 2023
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Learning agile soccer skills for a bipedal robot with deep reinforcement learning
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