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Stable locomotion in precipitous environments is an essential task for quadruped robots, requiring the ability to resist various external disturbances.
Essentials of robust control , volume 104
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Domain randomization for transferring deep neural networks from simulation to the real world
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Learning agile and dynamic motor skills for legged robots
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Dynamic walking with compliance on a cassie bipedal robot, 2019
J. Reher, W.-L. Ma, and A. D. Ames · 2019
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S. Ha, P. Xu, Z. Tan, S. Levine, and J. Tan · 2020
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Learning quadrupedal locomotion over challenging terrain
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Robust quadrupedal locomotion on sloped terrains: A linear policy approach, 2020
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Visual-locomotion: Learning to walk on complex terrains with vision
W. Yu, D. Jain, A. Escontrela, A. Iscen, P. Xu, E. Coumans, S. Ha, J. Tan, and T. Zhang · 2021
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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Walk these ways: Tuning robot control for generalization with multiplicity of behavior
G. B. Margolis and P. Agrawal · 2023
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Legged locomotion in challenging terrains using egocentric vision
A. Agarwal, A. Kumar, J. Malik, and D. Pathak · 2023
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Dreamwaq: Learning robust quadrupedal locomotion with implicit terrain imagination via deep reinforcement learning
I. M. A. Nahrendra, B. Yu, and H. Myung · 2023
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Neural volumetric memory for visual locomotion control
R. Yang, G. Yang, and X. Wang · 2023
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Learning and adapting agile locomotion skills by transferring experience, 2023
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Isaac gym: High performance gpu-based physics simulation for robot learning, 2021
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L. Smith, J. C. Kew, T. Li, L. Luu, X. B. Peng, S. Ha, J. Tan, and S. Levine · 2023
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Learning agile bipedal motions on a quadrupedal robot, 2023
Y. Li, J. Li, W. Fu, and Y. Wu · 2023
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Learning agile locomotion on risky terrains, 2023
C. Zhang, N. Rudin, D. Hoeller, and M. Hutter · 2023
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A. Aalipour and A. Khani · 2023
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Not only rewards but also constraints: Applications on legged robot locomotion, 2024
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Hybrid internal model: Learning agile legged locomotion with simulated robot response
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