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This work introduces DiffuseLoco, a framework for training multi-skill diffusion-based policies for dynamic legged locomotion from offline datasets, enabling real-time control of diverse skills on robots in the real world.
Extended Kalman Filter for State Estimation and Trajectory Prediction of a Moving Object Detected by an Unmanned Aerial Vehicle
Carole G. Prevost, Andre Desbiens, and Eric Gagnon · 2007
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A Reduction of Imitation Learning and Structured Prediction to No-Regret Online Learning , 2011
Stephane Ross, Geoffrey J. Gordon, and J. Andrew Bagnell · 2011
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Experimental evaluation of simple estimators for humanoid robots
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Gradient descent GAN optimization is locally stable
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Proximal Policy Optimization Algorithms , 2017
John Schulman, Filip Wolski, Prafulla Dhariwal, Alec Radford, and Oleg Klimov · 2017
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Revisiting Unreasonable Effectiveness of Data in Deep Learning Era
Chen Sun, Abhinav Shrivastava, Saurabh Singh, and A. Gupta · 2017
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End-to-end driving via conditional imitation learning
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Ashvin Nair, Bob McGrew, Marcin Andrychowicz, Wojciech Zaremba, and Pieter Abbeel · 2018
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Sim-to-real transfer of robotic control with dynamics randomization
Xue Bin Peng, Marcin Andrychowicz, Wojciech Zaremba, and Pieter Abbeel · 2018
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Behavioral cloning from observation
Faraz Torabi, Garrett Warnell, and Peter Stone · 2018
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Feedback control of dynamic bipedal robot locomotion
Eric R Westervelt, Jessy W Grizzle, Christine Chevallereau, Jun Ho Choi, and Benjamin Morris · 2018
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Deep imitation learning for autonomous driving in generic urban scenarios with enhanced safety
Jianyu Chen, Bodi Yuan, and Masayoshi Tomizuka · 2019
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Learning agile and dynamic motor skills for legged robots
Jemin Hwangbo, Joonho Lee, A. Dosovitskiy, Dario Bellicoso, Vassilios Tsounis, V. Koltun, and M. Hutter · 2019
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Spectral regularization for combating mode collapse in gans
Kanglin Liu, Wenming Tang, Fei Zhou, and Guoping Qiu · 2019
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Language models are few-shot learners
Tom Brown, Benjamin Mann, Nick Ryder, Melanie Subbiah, Jared D Kaplan, Prafulla Dhariwal, Arvind Neelakantan, Pranav Shyam, Girish Sastry, Amanda Askell, et al · 2020
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Combating mode collapse in gan training: An empirical analysis using hessian eigenvalues
Ricard Durall, Avraam Chatzimichailidis, Peter Labus, and Janis Keuper · 2020
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Denoising Diffusion Probabilistic Models , 2020
Jonathan Ho, Ajay Jain, and Pieter Abbeel · 2020
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Scaling Laws for Neural Language Models
J. Kaplan, Sam McCandlish, T. Henighan, Tom B. Brown, Benjamin Chess, Rewon Child, Scott Gray, Alec Radford, Jeff Wu, and Dario Amodei · 2020
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Conservative Q-Learning for Offline Reinforcement Learning
Aviral Kumar, Aurick Zhou, G. Tucker, and S. Levine · 2020
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Offline reinforcement learning: Tutorial, review, and perspectives on open problems
Sergey Levine, Aviral Kumar, George Tucker, and Justin Fu · 2020
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Learning Agile Robotic Locomotion Skills by Imitating Animals
X. B. Peng, Erwin Coumans, Tingnan Zhang, T. Lee, Jie Tan, and S. Levine · 2020
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Multi-task reinforcement learning with soft modularization
Ruihan Yang, Huazhe Xu, Yi Wu, and Xiaolong Wang · 2020
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Robust feedback motion policy design using reinforcement learning on a 3d digit bipedal robot
Guillermo A Castillo, Bowen Weng, Wei Zhang, and Ayonga Hereid · 2021
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Decision Transformer: Reinforcement Learning via Sequence Modeling , 2021
Lili Chen, Kevin Lu, Aravind Rajeswaran, Kimin Lee, Aditya Grover, Michael Laskin, Pieter Abbeel, Aravind Srinivas, and Igor Mordatch · 2021
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Offline reinforcement learning as one big sequence modeling problem
Michael Janner, Qiyang Li, and Sergey Levine · 2021
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Offline reinforcement learning with implicit q-learning
Ilya Kostrikov, Ashvin Nair, and Sergey Levine · 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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Amp: Adversarial motion priors for stylized physics-based character control
Xue Bin Peng, Ze Ma, Pieter Abbeel, Sergey Levine, and Angjoo Kanazawa · 2021
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Imitation learning from mpc for quadrupedal multi-gait control
Alexander Reske, Jan Carius, Yuntao Ma, Farbod Farshidian, and Marco Hutter · 2021
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Learning free gait transition for quadruped robots via phase-guided controller
DALL-E-Bot: Introducing Web-Scale Diffusion Models to Robotics
Ivan Kapelyukh, Vitalis Vosylius, and Edward Johns · 2023
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Arnaud Klipfel, Nitish Sontakke, Ren Liu, and Sehoon Ha · 2023
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Versatile skill control via self-supervised adversarial imitation of unlabeled mixed motions
Chenhao Li, Sebastian Blaes, Pavel Kolev, Marin Vlastelica, Jonas Frey, and Georg Martius · 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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Generative Skill Chaining: Long-Horizon Skill Planning with Diffusion Models , 2023
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Yecheng Shao, Yongbin Jin, Xianwei Liu, Weiyan He, Hongtao Wang, and Wei Yang · 2021
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Learning Free Gait Transition for Quadruped Robots Via Phase-Guided Controller
Yecheng Shao, Yongbin Jin, Xianwei Liu, Weiyan He, Hongtao Wang, and Wei Yang · 2021
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Is conditional generative modeling all you need for decision-making?
Anurag Ajay, Yilun Du, Abhi Gupta, Joshua Tenenbaum, Tommi Jaakkola, and Pulkit Agrawal · 2022
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Sim-to-real learning for bipedal locomotion under unsensed dynamic loads
Jeremy Dao, Kevin Green, Helei Duan, Alan Fern, and Jonathan Hurst · 2022
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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
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Planning with Diffusion for Flexible Behavior Synthesis , 2022
Michael Janner, Yilun Du, Joshua B. Tenenbaum, and Sergey Levine · 2022
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Gwanghyeon Ji, Juhyeok Mun, Hyeongjun Kim, and Jemin Hwangbo · 2022
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Humanconquad: human motion control of quadrupedal robots using deep reinforcement learning
Sunwoo Kim, Maks Sorokin, Jehee Lee, and Sehoon Ha · 2022
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Utkarsh A. Mishra, Shangjie Xue, Yongxin Chen, and Danfei Xu · 2023
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Cal-QL: Calibrated Offline RL Pre-Training for Efficient Online Fine-Tuning
Mitsuhiko Nakamoto, Yuexiang Zhai, Anikait Singh, Max Sobol Mark, Yi Ma, Chelsea Finn, Aviral Kumar, and Sergey Levine · 2023
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Extracting Reward Functions from Diffusion Models
Felipe Nuti, Tim Franzmeyer, and João F Henriques · 2023
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Octo: An Open-Source Generalist Robot Policy
Octo Model Team, Dibya Ghosh, Homer Walke, Karl Pertsch, Kevin Black, Oier Mees, Sudeep Dasari, Joey Hejna, Charles Xu, Jianlan Luo, Tobias Kreiman, You Liang Tan, Dorsa Sadigh, Chelsea Finn, and Sergey Levine · 2023
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Imitating Human Behaviour with Diffusion Models , 2023
Tim Pearce, Tabish Rashid, Anssi Kanervisto, Dave Bignell, Mingfei Sun, Raluca Georgescu, Sergio Valcarcel Macua, Shan Zheng Tan, Ida Momennejad, Katja Hofmann, and Sam Devlin · 2023
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Learning Humanoid Locomotion with Transformers
Ilija Radosavovic, Tete Xiao, Bike Zhang, Trevor Darrell, Jitendra Malik, and Koushil Sreenath · 2023
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Goal-Conditioned Imitation Learning using Score-based Diffusion Policies , 2023
Moritz Reuss, Maximilian Li, Xiaogang Jia, and Rudolf Lioutikov · 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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Two-Stage Learning of Highly Dynamic Motions with Rigid and Articulated Soft Quadrupeds
Francecso Vezzi, Jiatao Ding, Antonin Raffin, Jens Kober, and Cosimo Della Santina · 2023
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Advanced skills through multiple adversarial motion priors in reinforcement learning
Eric Vollenweider, Marko Bjelonic, Victor Klemm, Nikita Rudin, Joonho Lee, and Marco Hutter · 2023
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Learning multiple gaits within latent space for quadruped robots
Jinze Wu, Yufei Xue, and Chenkun Qi · 2023
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Chaineddiffuser: Unifying trajectory diffusion and keypose prediction for robotic manipulation
Zhou Xian, Nikolaos Gkanatsios, Theophile Gervet, Tsung-Wei Ke, and Katerina Fragkiadaki · 2023
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SafeDiffuser: Safe Planning with Diffusion Probabilistic Models
Wei Xiao, Tsun-Hsuan Wang, Chuang Gan, and Daniela Rus · 2023
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To the Noise and Back: Diffusion for Shared Autonomy
Takuma Yoneda, Luzhe Sun, Bradly Stadie, Ge Yang, and Matthew Walter · 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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Mobile aloha: Learning bimanual mobile manipulation with low-cost whole-body teleoperation
Zipeng Fu, Tony Z Zhao, and Chelsea Finn · 2024
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Anymal parkour: Learning agile navigation for quadrupedal robots
David Hoeller, Nikita Rudin, Dhionis Sako, and Marco Hutter · 2024
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Humanoid Locomotion as Next Token Prediction
Ilija Radosavovic, Bike Zhang, Baifeng Shi, Jathushan Rajasegaran, Sarthak Kamat, Trevor Darrell, Koushil Sreenath, and Jitendra Malik · 2024
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Leveraging Symmetry in RL-based Legged Locomotion Control
Zhi Su, Xiaoyu Huang, Daniel Ordoñez-Apraez, Yunfei Li, Zhongyu Li, Qiayuan Liao, Giulio Turrisi, Massimiliano Pontil, Claudio Semini, Yi Wu, et al · 2024
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Open neural network exchange
The Linux Foundation · 2024
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Learning Highly Dynamic Behaviors for Quadrupedal Robots
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Playfusion: Skill acquisition via diffusion from language-annotated play
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