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Robust locomotion control depends on accurate state estimations.
Internal model control: Pid controller design
Daniel E Rivera, Manfred Morari, and Sigurd Skogestad · 1986
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Simbicon: Simple biped locomotion control
KangKang Yin, Kevin Loken, and Michiel Van de Panne · 2007
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Visualizing data using t-sne
Laurens Van der Maaten and Geoffrey Hinton · 2008
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Physics-based modeling and simulation of human walking: a review of optimization-based and other approaches
Yujiang Xiang, Jasbir S Arora, and Karim Abdel-Malek · 2010
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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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Mujoco: A physics engine for model-based control
Emanuel Todorov, Tom Erez, and Yuval Tassa · 2012
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Sinkhorn distances: Lightspeed computation of optimal transport
Marco Cuturi · 2013
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The mit super mini cheetah: A small, low-cost quadrupedal robot for dynamic locomotion
Will Bosworth, Sangbae Kim, and Neville Hogan · 2015
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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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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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Legged robot state-estimation through combined forward kinematic and preintegrated contact factors
Ross Hartley, Josh Mangelson, Lu Gan, Maani Ghaffari Jadidi, Jeffrey M Walls, Ryan M Eustice, and Jessy W Grizzle · 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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Learning by cheating
Dian Chen, Brady Zhou, Vladlen Koltun, and Philipp Krähenbühl · 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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Unsupervised learning of visual features by contrasting cluster assignments
Mathilde Caron, Ishan Misra, Julien Mairal, Priya Goyal, Piotr Bojanowski, and Armand Joulin · 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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Learning agile robotic locomotion skills by imitating animals
Xue Bin Peng, Erwin Coumans, Tingnan Zhang, Tsang-Wei Lee, Jie Tan, and Sergey Levine · 2020
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Multi-expert learning of adaptive legged locomotion
Chuanyu Yang, Kai Yuan, Qiuguo Zhu, Wanming Yu, and Zhibin Li · 2020
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Minimizing energy consumption leads to the emergence of gaits in legged robots
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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Isaac gym: High performance gpu-based physics simulation for robot learning
Viktor Makoviychuk, Lukasz Wawrzyniak, Yunrong Guo, Michelle Lu, Kier Storey, Miles Macklin, David Hoeller, Nikita Rudin, Arthur Allshire, Ankur Handa, et al · 2021
Vision-guided quadrupedal locomotion in the wild with multi-modal delay randomization
Chieko Imai, Minghao Zhang, Yuchen Zhang, Marcin Kierebinski, Ruihan Yang, Yuzhe Qin, and Xiaolong Wang · 2022
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A path towards autonomous machine intelligence
Yann LeCun · 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 to walk in minutes using massively parallel deep reinforcement learning
Nikita Rudin, David Hoeller, Philipp Reist, and Marco Hutter · 2022
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Learning robust and agile legged locomotion using adversarial motion priors
Jinze Wu, Guiyang Xin, Chenkun Qi, and Yufei Xue · 2022
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Learning vision-guided quadrupedal locomotion end-to-end with cross-modal transformers
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Learning to fly—a gym environment with pybullet physics for reinforcement learning of multi-agent quadcopter control
Jacopo Panerati, Hehui Zheng, SiQi Zhou, James Xu, Amanda Prorok, and Angela P Schoellig · 2021
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Dynamics randomization revisited: A case study for quadrupedal locomotion
Zhaoming Xie, Xingye Da, Michiel Van de Panne, Buck Babich, and Animesh Garg · 2021
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Reinforcement learning with prototypical representations
Denis Yarats, Rob Fergus, Alessandro Lazaric, and Lerrel Pinto · 2021
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Visual-locomotion: Learning to walk on complex terrains with vision
Wenhao Yu, Deepali Jain, Alejandro Escontrela, Atil Iscen, Peng Xu, Erwin Coumans, Sehoon Ha, Jie Tan, and Tingnan Zhang · 2021
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Vision-aided dynamic quadrupedal locomotion on discrete terrain using motion libraries
Ayush Agrawal, Shuxiao Chen, Akshara Rai, and Koushil Sreenath · 2022
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Dreamerpro: Reconstruction-free model-based reinforcement learning with prototypical representations
Fei Deng, Ingook Jang, and Sungjin Ahn · 2022
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Ruihan Yang, Minghao Zhang, Nicklas Hansen, Huazhe Xu, and Xiaolong Wang · 2022
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Legged locomotion in challenging terrains using egocentric vision
Ananye Agarwal, Ashish Kumar, Jitendra Malik, and Deepak Pathak · 2023
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Barkour: Benchmarking animal-level agility with quadruped robots
Ken Caluwaerts, Atil Iscen, J Chase Kew, Wenhao Yu, Tingnan Zhang, Daniel Freeman, Kuang-Huei Lee, Lisa Lee, Stefano Saliceti, Vincent Zhuang, et al · 2023
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Legs as manipulator: Pushing quadrupedal agility beyond locomotion
Xuxin Cheng, Ashish Kumar, and Deepak Pathak · 2023
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Dribblebot: Dynamic legged manipulation in the wild
Yandong Ji, Gabriel B Margolis, and Pulkit Agrawal · 2023
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Walk these ways: Tuning robot control for generalization with multiplicity of behavior
Gabriel B Margolis and Pulkit Agrawal · 2023
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Dreamwaq: Learning robust quadrupedal locomotion with implicit terrain imagination via deep reinforcement learning
I Made Aswin Nahrendra, Byeongho Yu, and Hyun Myung · 2023
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Daydreamer: World models for physical robot learning
Philipp Wu, Alejandro Escontrela, Danijar Hafner, Pieter Abbeel, and Ken Goldberg · 2023
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Robot parkour learning
Ziwen Zhuang, Zipeng Fu, Jianren Wang, Christopher Atkeson, Soeren Schwertfeger, Chelsea Finn, and Hang Zhao · 2023
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