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Humanoid robots, with their human-like skeletal structure, are especially suited for tasks in human-centric environments.
Information-power machine with senses and limbs (wabot 1)
Ichiro Kato · 1974
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The information bottleneck method
Naftali Tishby, Fernando C Pereira, and William Bialek · 2000
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Real-time humanoid motion generation through zmp manipulation based on inverted pendulum control
Tomomichi Sugihara, Yoshihiko Nakamura, and Hirochika Inoue · 2002
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A whole-body control framework for humanoids operating in human environments
Luis Sentis and Oussama Khatib · 2006
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Auto-encoding variational bayes
Diederik P Kingma and Max Welling · 2013
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Adam: A method for stochastic optimization
Diederik P Kingma and Jimmy Ba · 2014
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Development of high-span running long jumps for humanoids
Patrick M Wensing and David E Orin · 2014
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Optimization-based locomotion planning, estimation, and control design for the atlas humanoid robot
Scott Kuindersma, Robin Deits, Maurice Fallon, Andrés Valenzuela, Hongkai Dai, Frank Permenter, Twan Koolen, Pat Marion, and Russ Tedrake · 2016
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Gate-variants of gated recurrent unit (gru) neural networks
Rahul Dey and Fathi M Salem · 2017
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Asymmetric actor critic for image-based robot learning
Lerrel Pinto, Marcin Andrychowicz, Peter Welinder, Wojciech Zaremba, and Pieter Abbeel · 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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Bert: Pre-training of deep bidirectional transformers for language understanding
Jacob Devlin, Ming-Wei Chang, Kenton Lee, and Kristina Toutanova · 2018
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Masking: A new perspective of noisy supervision
Bo Han, Jiangchao Yao, Gang Niu, Mingyuan Zhou, Ivor Tsang, Ya Zhang, and Masashi Sugiyama · 2018
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State representation learning for control: An overview
Timothée Lesort, Natalia Díaz-Rodríguez, Jean-Franois Goudou, and David Filliat · 2018
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Neural probabilistic motor primitives for humanoid control
Josh Merel, Leonard Hasenclever, Alexandre Galashov, Arun Ahuja, Vu Pham, Greg Wayne, Yee Whye Teh, and Nicolas Heess · 2018
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Sim-to-real: Learning agile locomotion for quadruped robots
Jie Tan, Tingnan Zhang, Erwin Coumans, Atil Iscen, Yunfei Bai, Danijar Hafner, Steven Bohez, and Vincent Vanhoucke · 2018
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Learning latent dynamics for planning from pixels
Danijar Hafner, Timothy Lillicrap, Ian Fischer, Ruben Villegas, David Ha, Honglak Lee, and James Davidson · 2019
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Sim-to-real learning of all common bipedal gaits via periodic reward composition
Jonah Siekmann, Yesh Godse, Alan Fern, and Jonathan Hurst · 2021
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A unified mpc framework for whole-body dynamic locomotion and manipulation
Jean-Pierre Sleiman, Farbod Farshidian, Maria Vittoria Minniti, and Marco Hutter · 2021
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Sparsity winning twice: Better robust generalization from more efficient training
Tianlong Chen, Zhenyu Zhang, Pengjun Wang, Santosh Balachandra, Haoyu Ma, Zehao Wang, and Zhangyang Wang · 2022
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Masked autoencoders are scalable vision learners
Kaiming He, Xinlei Chen, Saining Xie, Yanghao Li, Piotr Dollár, and Ross Girshick · 2022
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Adapting rapid motor adaptation for bipedal robots
Ashish Kumar, Zhongyu Li, Jun Zeng, Deepak Pathak, Koushil Sreenath, and Jitendra Malik · 2022
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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 walking with compliance on a cassie bipedal robot
Jacob Reher, Wen-Loong Ma, and Aaron D Ames · 2019
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Learning by cheating
Dian Chen, Brady Zhou, Vladlen Koltun, and Philipp Krähenbühl · 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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Learning natural locomotion behaviors for humanoid robots using human bias
Chuanyu Yang, Kai Yuan, Shuai Heng, Taku Komura, and Zhibin Li · 2020
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The mit humanoid robot: Design, motion planning, and control for acrobatic behaviors
Matthew Chignoli, Donghyun Kim, Elijah Stanger-Jones, and Sangbae Kim · 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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Learning to walk in minutes using massively parallel deep reinforcement learning
Nikita Rudin, David Hoeller, Philipp Reist, and Marco Hutter · 2022
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Legged locomotion in challenging terrains using egocentric vision
Ananye Agarwal, Ashish Kumar, Jitendra Malik, and Deepak Pathak · 2023
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Development and Real-Time Optimization-based Control of a Full-sized Humanoid for Dynamic Walking and Running
Min Sung Ahn · 2023
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Multi-contact mpc for dynamic loco-manipulation on humanoid robots
Junheng Li and Quan Nguyen · 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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Learning humanoid locomotion with transformers
Ilija Radosavovic, Tete Xiao, Bike Zhang, Trevor Darrell, Jitendra Malik, and Koushil Sreenath · 2023
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Humanoid-gym: Reinforcement learning for humanoid robot with zero-shot sim2real transfer
Xinyang Gu, Yen-Jen Wang, and Jianyu Chen · 2024
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