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Legged robots navigating cluttered environments must be jointly agile for efficient task execution and safe to avoid collisions with obstacles or humans.
Visual feature extraction by a multilayered network of analog threshold elements
Kunihiko Fukushima · 1969
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Avoiding cars and pedestrians using velocity obstacles and motion prediction
Frédéric Large, Dizan Vasquez, Thierry Fraichard, and Christian Laugier · 2004
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An online actor–critic algorithm with function approximation for constrained markov decision processes
Shalabh Bhatnagar and K Lakshmanan · 2012
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State estimation for legged robots on unstable and slippery terrain
Michael Bloesch, Christian Gehring, Péter Fankhauser, Marco Hutter, Mark A Hoepflinger, and Roland Siegwart · 2013
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Reach-avoid problems with time-varying dynamics, targets and constraints
Jaime F Fisac, Mo Chen, Claire J Tomlin, and S Shankar Sastry · 2015
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Fast reachable set approximations via state decoupling disturbances
Mo Chen, Sylvia Herbert, and Claire J Tomlin · 2016
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Deep residual learning for image recognition
Kaiming He, Xiangyu Zhang, Shaoqing Ren, and Jian Sun · 2016
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Hamilton-jacobi reachability: A brief overview and recent advances
Somil Bansal, Mo Chen, Sylvia Herbert, and Claire J Tomlin · 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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Domain randomization for transferring deep neural networks from simulation to the real world
Josh Tobin, Rachel Fong, Alex Ray, Jonas Schneider, Wojciech Zaremba, and Pieter Abbeel · 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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Safe exploration in continuous action spaces
Gal Dalal, Krishnamurthy Dvijotham, Matej Vecerik, Todd Hester, Cosmin Paduraru, and Yuval Tassa · 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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Accelerated primal-dual policy optimization for safe reinforcement learning
Qingkai Liang, Fanyu Que, and Eytan Modiano · 2018
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Reward constrained policy optimization
Chen Tessler, Daniel J Mankowitz, and Shie Mannor · 2018
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End-to-end safe reinforcement learning through barrier functions for safety-critical continuous control tasks
Richard Cheng, Gábor Orosz, Richard M Murray, and Joel W Burdick · 2019
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Real-time model predictive control for versatile dynamic motions in quadrupedal robots
Yanran Ding, Abhishek Pandala, and Hae-Won Park · 2019
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Bridging hamilton-jacobi safety analysis and reinforcement learning
Jaime F Fisac, Neil F Lugovoy, Vicenç Rubies-Royo, Shromona Ghosh, and Claire J Tomlin · 2019
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Frequency-aware model predictive control
Ruben Grandia, Farbod Farshidian, Alexey Dosovitskiy, René Ranftl, and Marco Hutter · 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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Dynamic locomotion on slippery ground
Fabian Jenelten, Jemin Hwangbo, Fabian Tresoldi, C Dario Bellicoso, and Marco Hutter · 2019
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Benchmarking safe exploration in deep reinforcement learning
Alex Ray, Joshua Achiam, and Dario Amodei · 2019
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Agen: Adaptable generative prediction networks for autonomous driving
Wenwen Si, Tianhao Wei, and Changliu Liu · 2019
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Robust autonomous navigation of a small-scale quadruped robot in real-world environments
Thomas Dudzik, Matthew Chignoli, Gerardo Bledt, Bryan Lim, Adam Miller, Donghyun Kim, and Sangbae Kim · 2020
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Dynamic obstacle avoidance for quadrotors with event cameras
Davide Falanga, Kevin Kleber, and Davide Scaramuzza · 2020
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Vision aided dynamic exploration of unstructured terrain with a small-scale quadruped robot
Donghyun Kim, Daniel 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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Chance-constrained trajectory optimization for safe exploration and learning of nonlinear systems
Yashwanth Kumar Nakka, Anqi Liu, Guanya Shi, Anima Anandkumar, Yisong Yue, and Soon-Jo Chung · 2020
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Path planning of forest fire-fighting robots based on deep learning
ShangJie Sun, ShuHai Jiang, SongHe Cui, Yue Kang, YuTang Chen, et al · 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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Deepreach: A deep learning approach to high-dimensional reachability
Somil Bansal and Claire J Tomlin · 2021
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Perceptive whole-body planning for multilegged robots in confined spaces
Russell Buchanan, Lorenz Wellhausen, Marko Bjelonic, Tirthankar Bandyopadhyay, Navinda Kottege, and Marco Hutter · 2021
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On state estimation for legged locomotion over soft terrain
Extreme parkour with legged robots
Xuxin Cheng, Kexin Shi, Ananye Agarwal, and Deepak Pathak · 2023
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Learning vision-based bipedal locomotion for challenging terrain
Helei Duan, Bikram Pandit, Mohitvishnu S Gadde, Bart Jaap van Marum, Jeremy Dao, Chanho Kim, and Alan Fern · 2023
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Perceptive locomotion through nonlinear model-predictive control
Ruben Grandia, Fabian Jenelten, Shaohui Yang, Farbod Farshidian, and Marco Hutter · 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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Sim-to-lab-to-real: Safe reinforcement learning with shielding and generalization guarantees
Kai-Chieh Hsu, Allen Z Ren, Duy P Nguyen, Anirudha Majumdar, and Jaime F Fisac · 2023
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Shamel Fahmi, Geoff Fink, and Claudio Semini · 2021
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Collision-free mpc for legged robots in static and dynamic scenes
Magnus Gaertner, Marko Bjelonic, Farbod Farshidian, and Marco Hutter · 2021
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Learning a state representation and navigation in cluttered and dynamic environments
David Hoeller, Lorenz Wellhausen, Farbod Farshidian, and Marco Hutter · 2021
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Safety and liveness guarantees through reach-avoid reinforcement learning
Kai-Chieh Hsu, Vicenç Rúbies Royo, Claire J. Tomlin, and Jaime F. Fisac · 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
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Toward safety-aware informative motion planning for legged robots
Sangli Teng, Yukai Gong, Jessy W. Grizzle, and Maani Ghaffari · 2021
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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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Walking in narrow spaces: Safety-critical locomotion control for quadrupedal robots with duality-based optimization
Qiayuan Liao, Zhongyu Li, Akshay Thirugnanam, Jun Zeng, and Koushil Sreenath · 2023
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Learning arm-assisted fall damage reduction and recovery for legged mobile manipulators
Yuntao Ma, Farbod Farshidian, and Marco Hutter · 2023
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Learning to walk by steering: Perceptive quadrupedal locomotion in dynamic environments
Mingyo Seo, Ryan Gupta, Yifeng Zhu, Alexy Skoutnev, Luis Sentis, and Yuke Zhu · 2023
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Actuator-constrained reinforcement learning for high-speed quadrupedal locomotion
Young-Ha Shin, Tae-Gyu Song, Gwanghyeon Ji, and Hae-Won Park · 2023
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Reaching the limit in autonomous racing: Optimal control versus reinforcement learning
Yunlong Song, Angel Romero, Matthias Müller, Vladlen Koltun, and Davide Scaramuzza · 2023
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Guardians as you fall: Active mode transition for safe falling
Yikai Wang, Mengdi Xu, Guanya Shi, and Ding Zhao · 2023
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Artplanner: Robust legged robot navigation in the field
Lorenz Wellhausen and Marco Hutter · 2023
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Emergence of maps in the memories of blind navigation agents
Erik Wijmans, Manolis Savva, Irfan Essa, Stefan Lee, Ari S. Morcos, and Dhruv Batra · 2023
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Wenli Xiao, Tairan He, John Dolan, and Guanya Shi · 2023
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Cajun: Continuous adaptive jumping using a learned centroidal controller
Yuxiang Yang, Guanya Shi, Xiangyun Meng, Wenhao Yu, Tingnan Zhang, Jie Tan, and Byron Boots · 2023
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Asc: Adaptive skill coordination for robotic mobile manipulation
Naoki Yokoyama, Alex Clegg, Joanne Truong, Eric Undersander, Tsung-Yen Yang, Sergio Arnaud, Sehoon Ha, Dhruv Batra, and Akshara Rai · 2023
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Learning agile locomotion on risky terrains
Chong Zhang, Nikita Rudin, David Hoeller, and Marco Hutter · 2023
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State-wise safe reinforcement learning: A survey
Weiye Zhao, Tairan He, Rui Chen, Tianhao Wei, and Changliu Liu · 2023
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Ziwen Zhuang, Zipeng Fu, Jianren Wang, Christopher Atkeson, Soeren Schwertfeger, Chelsea Finn, and Hang Zhao · 2023
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Dtc: Deep tracking control
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