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Can we enable humanoid robots to generate rich, diverse, and expressive motions in the real world? We propose to learn a whole-body control policy on a human-sized robot to mimic human motions as realistic as possible.
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Hirofumi Miura and Isao Shimoyama · 1984
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The development of honda humanoid robot
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Xue Bin Peng, Pieter Abbeel, Sergey Levine, and Michiel van de Panne · 2018
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Naureen Mahmood, Nima Ghorbani, Nikolaus F. Troje, Gerard Pons-Moll, and Michael J. Black · 2019
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Federico L Moro and Luis Sentis · 2019
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Tingwu Wang, Yunrong Guo, Maria Shugrina, and Sanja Fidler · 2020
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Jungdam Won, Deepak Gopinath, and Jessica Hodgins · 2020
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Matthew Chignoli, Donghyun Kim, Elijah Stanger-Jones, and Sangbae Kim · 2021
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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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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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Isaac gym: High performance gpu-based physics simulation for robot learning
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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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Amp: Adversarial motion priors for stylized physics-based character control
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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Zipeng Fu, Xuxin Cheng, and Deepak Pathak · 2023
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Yuni Fuchioka, Zhaoming Xie, and Michiel Van de Panne · 2023
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Synthesizing physical character-scene interactions
Mohamed Hassan, Yunrong Guo, Tingwu Wang, Michael Black, Sanja Fidler, and Xue Bin Peng · 2023
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Learning whole-body manipulation for quadrupedal robot
Seunghun Jeon, Moonkyu Jung, Suyoung Choi, Beomjoon Kim, and Jemin Hwangbo · 2023
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Xue Bin Peng, Ze Ma, Pieter Abbeel, Sergey Levine, and Angjoo Kanazawa · 2021
Cited alongside, same era.
Blind bipedal stair traversal via sim-to-real reinforcement learning
Jonah Siekmann, Kevin Green, John Warila, Alan Fern, and Jonathan Hurst · 2021
Cited alongside, same era.
Adversarial motion priors make good substitutes for complex reward functions. 2022 ieee
Alejandro Escontrela, Xue Bin Peng, Wenhao Yu, Tingnan Zhang, Atil Iscen, Ken Goldberg, and Pieter Abbeel · 2022
Cited alongside, same era.
Adversarial motion priors make good substitutes for complex reward functions
Alejandro Escontrela, Xue Bin Peng, Wenhao Yu, Tingnan Zhang, Atil Iscen, Ken Goldberg, and Pieter Abbeel · 2022
Cited alongside, same era.
Learning deep sensorimotor policies for vision-based autonomous drone racing, 2022
Jiawei Fu, Yunlong Song, Yan Wu, Fisher Yu, and Davide Scaramuzza · 2022
Cited alongside, same era.
Generating diverse and natural 3d human motions from text
Chuan Guo, Shihao Zou, Xinxin Zuo, Sen Wang, Wei Ji, Xingyu Li, and Li Cheng · 2022
Cited alongside, same era.
Efficient multitask learning with an embodied predictive model for door opening and entry with whole-body control
Hiroshi Ito, Kenjiro Yamamoto, Hiroki Mori, and Tetsuya Ogata · 2022
Cited alongside, same era.
Hierarchical reinforcement learning for precise soccer shooting skills using a quadrupedal robot
Yandong Ji, Zhongyu Li, Yinan Sun, Xue Bin Peng, Sergey Levine, Glen Berseth, and Koushil Sreenath · 2022
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Dribblebot: Dynamic legged manipulation in the wild
Yandong Ji, Gabriel B Margolis, and Pulkit Agrawal · 2023
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Words into action: Learning diverse humanoid robot behaviors using language guided iterative motion refinement, 2023
K. Niranjan Kumar, Irfan Essa, and Sehoon Ha · 2023
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Robust and versatile bipedal jumping control through multi-task reinforcement learning
Zhongyu Li, Xue Bin Peng, Pieter Abbeel, Sergey Levine, Glen Berseth, and Koushil Sreenath · 2023
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Physics-based character animation and human motor control
Joan Llobera and Caecilia Charbonnier · 2023
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Curiosity-driven learning of joint locomotion and manipulation tasks
Clemens Schwarke, Victor Klemm, Matthijs Van der Boon, Marko Bjelonic, and Marco Hutter · 2023
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Deep imitation learning for humanoid loco-manipulation through human teleoperation
Mingyo Seo, Steve Han, Kyutae Sim, Seung Hyeon Bang, Carlos Gonzalez, Luis Sentis, and Yuke Zhu · 2023
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Annan Tang, Takuma Hiraoka, Naoki Hiraoka, Fan Shi, Kento Kawaharazuka, Kunio Kojima, Kei Okada, and Masayuki Inaba · 2023
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Calm: Conditional adversarial latent models for directable virtual characters
Chen Tessler, Yoni Kasten, Yunrong Guo, Shie Mannor, Gal Chechik, and Xue Bin Peng · 2023
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Amp in the wild: Learning robust, agile, natural legged locomotion skills
Yikai Wang, Zheyuan Jiang, and Jianyu Chen · 2023
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Learning physically simulated tennis skills from broadcast videos
Haotian Zhang, Ye Yuan, Viktor Makoviychuk, Yunrong Guo, Sanja Fidler, Xue Bin Peng, and Kayvon Fatahalian · 2023
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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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Boston Dynamics, Atlas, 2024, www.bostondynamics.com/atlas , [Online; accessed Feb. 2024]
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Unitree Robotics, H1, 2024, www.unitree.com/h1 , [Online; accessed Feb. 2024]
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