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Humans can perform parkour by traversing obstacles in a highly dynamic fashion requiring precise eye-muscle coordination and movement.
Dynamic walk of a biped
Hirofumi Miura and Isao Shimoyama · 1984
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Terrain mapping for a roving planetary explorer
In-So Kweon, M Hebert, Eric Krotkov, and T Kanade · 1989
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Navigation planning for legged robots
Joel Chestnutt · 2007
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Real-time localization and elevation mapping within urban search and rescue scenarios
Alexander Kleiner and Christian Dornhege · 2007
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Simbicon: Simple biped locomotion control
KangKang Yin, Kevin Loken, and Michiel Van de Panne · 2007
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A reduction of imitation learning and structured prediction to no-regret online learning
Stéphane Ross, Geoffrey Gordon, and Drew Bagnell · 2011
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A compliant hybrid zero dynamics controller for stable, efficient and fast bipedal walking on mabel
Koushil Sreenath, Hae-Won Park, Ioannis Poulakakis, and Jessy W Grizzle · 2011
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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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Terrain-adaptive locomotion skills using deep reinforcement learning
Xue Bin Peng, Glen Berseth, and Michiel Van de Panne · 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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Proximal policy optimization algorithms
John Schulman, Filip Wolski, Prafulla Dhariwal, Alec Radford, and Oleg Klimov · 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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Gpu accelerated real-time traversability mapping
Yiyuan Pan, Xuecheng Xu, Yue Wang, Xiaqing Ding, and Rong Xiong · 2019
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Path planning with local motion estimations
Jérôme Guzzi, R Omar Chavez-Garcia, Mirko Nava, Luca Maria Gambardella, and Alessandro Giusti · 2020
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Vision aided dynamic exploration of unstructured terrain with a small-scale quadruped robot
Donghyun Kim, D Carballo, Jared Di Carlo, Benjamin Katz, Gerardo Bledt, Bryan Lim, and Sangbae Kim · 2020
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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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Deepgait: Planning and control of quadrupedal gaits using deep reinforcement learning
Vassilios Tsounis, Mitja Alge, Joonho Lee, Farbod Farshidian, and Marco Hutter · 2020
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Learning fast adaptation with meta strategy optimization
Wenhao Yu, Jie Tan, Yunfei Bai, Erwin Coumans, and Sehoon Ha · 2020
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https://youtu.be/tF4DML7FIWk , 2021
Atlas | Partners in Parkour · 2021
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Minimizing energy consumption leads to the emergence of gaits in legged robots
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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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 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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Dynamic bipedal maneuvers through sim-to-real reinforcement learning
Fangzhou Yu, Ryan Batke, Jeremy Dao, Jonathan Hurst, Kevin Green, and Alan Fern · 2022
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Legs as manipulator: Pushing quadrupedal agility beyond locomotion
Xuxin Cheng, Ashish Kumar, and Deepak Pathak · 2023
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Zipeng Fu, Ashish Kumar, Jitendra Malik, and Deepak Pathak · 2021
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Rma: Rapid motor adaptation for legged robots
Ashish Kumar, Zipeng Fu, Deepak Pathak, and Jitendra Malik · 2021
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Reinforcement learning for robust parameterized locomotion control of bipedal robots
Zhongyu Li, Xuxin Cheng, Xue Bin Peng, Pieter Abbeel, Sergey Levine, Glen Berseth, and Koushil Sreenath · 2021
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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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Real-time optimal navigation planning using learned motion costs
Bowen Yang, Lorenz Wellhausen, Takahiro Miki, Ming Liu, and Marco Hutter · 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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Learning deep sensorimotor policies for vision-based autonomous drone racing, 2022
Jiawei Fu, Yunlong Song, Yan Wu, Fisher Yu, and Davide Scaramuzza · 2022
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Deep whole-body control: learning a unified policy for manipulation and locomotion
Zipeng Fu, Xuxin Cheng, and Deepak Pathak · 2023
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Anymal parkour: Learning agile navigation for quadrupedal robots
David Hoeller, Nikita Rudin, Dhionis Sako, and Marco Hutter · 2023
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Vinl: Visual navigation and locomotion over obstacles
Simar Kareer, Naoki Yokoyama, Dhruv Batra, Sehoon Ha, and Joanne Truong · 2023
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Robust and versatile bipedal jumping control through reinforcement learning
Zhongyu Li, Xue Bin Peng, Pieter Abbeel, Sergey Levine, Glen Berseth, and Koushil Sreenath · 2023
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Learning and adapting agile locomotion skills by transferring experience
Laura Smith, J Chase Kew, Tianyu Li, Linda Luu, Xue Bin Peng, Sehoon Ha, Jie Tan, and Sergey Levine · 2023
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Learning perception-aware agile flight in cluttered environments, 2023
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Daydreamer: World models for physical robot learning
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Neural volumetric memory for visual locomotion control
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Robot parkour learning
Ziwen Zhuang, Zipeng Fu, Jianren Wang, Christopher Atkeson, Sören Schwertfeger, Chelsea Finn, and Hang Zhao · 2023
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