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Parkour is a grand challenge for legged locomotion, even for quadruped robots, requiring active perception and various maneuvers to overcome multiple challenging obstacles.
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A. E. Patla · 1997
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The effects of distant and on-line visual information on the control of approach phase and step over an obstacle during locomotion
A. A. Mohagheghi, R. Moraes, and A. E. Patla · 2004
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Whole body humanoid control from human motion descriptors
B. Dariush, M. Gienger, B. Jian, C. Goerick, and K. Fujimura · 2008
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Mabel, a new robotic bipedal walker and runner
J. Grizzle, J. Hurst, B. Morris, H.-W. Park, and K. Sreenath · 2009
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Stereo camera based navigation of mobile robots on rough terrain
A. Chilian and H. Hirschmüller · 2009
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A reduction of imitation learning and structured prediction to no-regret online learning
S. Ross, G. Gordon, and D. Bagnell · 2011
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Mujoco: A physics engine for model-based control
E. Todorov, T. Erez, and Y. Tassa · 2012
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Ground reaction forces and loading rates associated with parkour and traditional drop landing techniques
D. L. Puddle and P. S. Maulder · 2013
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Empirical evaluation of gated recurrent neural networks on sequence modeling
J. Chung, C. Gulcehre, K. Cho, and Y. Bengio · 2014
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Robust visual inertial odometry using a direct ekf-based approach
M. Bloesch, S. Omari, M. Hutter, and R. Siegwart · 2015
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Navigation planning for legged robots in challenging terrain
M. Wermelinger, P. Fankhauser, R. Diethelm, P. Krüsi, R. Siegwart, and M. Hutter · 2016
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Proximal policy optimization algorithms
J. Schulman, F. Wolski, P. Dhariwal, A. Radford, and O. Klimov · 2017
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Sim-to-real: Learning agile locomotion for quadruped robots
J. Tan, T. Zhang, E. Coumans, A. Iscen, Y. Bai, D. Hafner, S. Bohez, and V. Vanhoucke · 2018
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R. O. Chavez-Garcia, J. Guzzi, L. M. Gambardella, and A. Giusti · 2018
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On learning symmetric locomotion
F. Abdolhosseini, H. Y. Ling, Z. Xie, X. B. Peng, and M. van de Panne · 2019
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Whole-Body Control of Humanoid Robots , pages 1161–1183
F. L. Moro and L. Sentis · 2019
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Gpu accelerated real-time traversability mapping
Y. Pan, X. Xu, Y. Wang, X. Ding, and R. Xiong · 2019
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Vision aided dynamic exploration of unstructured terrain with a small-scale quadruped robot
D. Kim, D. Carballo, J. Di Carlo, B. Katz, G. Bledt, B. Lim, and S. Kim · 2020
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Learning by cheating
D. Chen, B. Zhou, V. Koltun, and P. Krähenbühl · 2020
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J. Guzzi, R. O. Chavez-Garcia, M. Nava, L. M. Gambardella, and A. Giusti · 2020
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Perceptive locomotion in rough terrain–online foothold optimization
F. Jenelten, T. Miki, A. E. Vijayan, M. Bjelonic, and M. Hutter · 2020
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From pixels to legs: Hierarchical learning of quadruped locomotion
D. Jain, A. Iscen, and K. Caluwaerts · 2020
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Minimizing energy consumption leads to the emergence of gaits in legged robots
Z. Fu, A. Kumar, J. Malik, and D. Pathak · 2021
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Blind bipedal stair traversal via sim-to-real reinforcement learning
J. Siekmann, K. Green, J. Warila, A. Fern, and J. Hurst · 2021
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Robust feedback motion policy design using reinforcement learning on a 3d digit bipedal robot
G. A. Castillo, B. Weng, W. Zhang, and A. Hereid · 2021
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Vilens: Visual, inertial, lidar, and leg odometry for all-terrain legged robots
D. Wisth, M. Camurri, and M. Fallon · 2022
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Learning inertial odometry for dynamic legged robot state estimation
R. Buchanan, M. Camurri, F. Dellaert, and M. Fallon · 2022
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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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Neural scene representation for locomotion on structured terrain
D. Hoeller, N. Rudin, C. Choy, A. Anandkumar, and M. Hutter · 2022
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URL https://agilityrobotics.com/news/2022/cassie-sets-a-guinness-world-record
Cassie sets a guinness world record · 2022
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Custom sine waves are enough for imitation learning of bipedal gaits with different styles
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V. Makoviychuk, L. Wawrzyniak, Y. Guo, M. Lu, K. Storey, M. Macklin, D. Hoeller, N. Rudin, A. Allshire, A. Handa, et al · 2021
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Rma: Rapid motor adaptation for legged robots
A. Kumar, Z. Fu, D. Pathak, and J. Malik · 2021
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Real-time optimal navigation planning using learned motion costs
B. Yang, L. Wellhausen, T. Miki, M. Liu, and M. Hutter · 2021
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Learning to jump from pixels
G. B. Margolis, T. Chen, K. Paigwar, X. Fu, D. Kim, S. Kim, and P. Agrawal · 2021
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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
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Reinforcement learning for robust parameterized locomotion control of bipedal robots
Z. Li, X. Cheng, X. B. Peng, P. Abbeel, S. Levine, G. Berseth, and K. Sreenath · 2021
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Ase: Large-scale reusable adversarial skill embeddings for physically simulated characters
X. B. Peng, Y. Guo, L. Halper, S. Levine, and S. Fidler · 2022
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Q. Wu, C. Zhang, and Y. Liu · 2022
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Robot parkour learning
Z. Zhuang, Z. Fu, J. Wang, C. G. Atkeson, S. Schwertfeger, C. Finn, and H. Zhao · 2023
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Extreme parkour with legged robots
X. Cheng, K. Shi, A. Agarwal, and D. Pathak · 2023
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Dreamwaq: Learning robust quadrupedal locomotion with implicit terrain imagination via deep reinforcement learning
I. M. Aswin Nahrendra, B. Yu, and H. Myung · 2023
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Learning vision-based bipedal locomotion for challenging terrain, 2023
H. Duan, B. Pandit, M. S. Gadde, B. van Marum, J. Dao, C. Kim, and A. Fern · 2023
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Cerberus: Low-drift visual-inertial-leg odometry for agile locomotion
S. Yang, Z. Zhang, Z. Fu, and Z. Manchester · 2023
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Neural volumetric memory for visual locomotion control
R. Yang, G. Yang, and X. Wang · 2023
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Robust and versatile bipedal jumping control through reinforcement learning, 2023
Z. Li, X. B. Peng, P. Abbeel, S. Levine, G. Berseth, and K. Sreenath · 2023
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Expressive whole-body control for humanoid robots
X. Cheng, Y. Ji, J. Chen, R. Yang, G. Yang, and X. Wang · 2024
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Humanoid locomotion as next token prediction
I. Radosavovic, B. Zhang, B. Shi, J. Rajasegaran, S. Kamat, T. Darrell, K. Sreenath, and J. Malik · 2024
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Learning human-to-humanoid real-time whole-body teleoperation
T. He, Z. Luo, W. Xiao, C. Zhang, K. Kitani, C. Liu, and G. Shi · 2024
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Revisiting reward design and evaluation for robust human standing and walking
B. van Marum, A. Shrestha, H. Duan, P. Dugar, J. Dao, and A. Fern · 2024
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Anymal parkour: Learning agile navigation for quadrupedal robots
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Whole-body humanoid robot locomotion with human reference, 2024
Q. Zhang, P. Cui, D. Yan, J. Sun, Y. Duan, A. Zhang, and R. Xu · 2024
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Dtc: Deep tracking control
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Humanoid-gym: Reinforcement learning for humanoid robot with zero-shot sim2real transfer
X. Gu, Y.-J. Wang, and J. Chen · 2024
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