Fetching the paper…
Reading the bibliography…
We focus on agile, continuous, and terrain-adaptive jumping of quadrupedal robots in discontinuous terrains such as stairs and stepping stones.
M. H. Raibert, Legged robots that balance . MIT press, 1986
1986
Earlier work this paper cites.
S. Ross, G. Gordon, and D. Bagnell, “A reduction of imitation learning and structured prediction to no-regret online learning,” in Proceedings of the fourteenth international conference on artificial intelligence and statistics . JMLR Workshop and Conference Proceedings, 2011, pp. 627–635
2011
Earlier work this paper cites.
X. B. Peng, G. Berseth, and M. Van de Panne, “Dynamic terrain traversal skills using reinforcement learning,” ACM Transactions on Graphics (TOG) , vol. 34, no. 4, pp. 1–11, 2015
2015
Earlier work this paper cites.
C. Gehring, S. Coros, M. Hutter, C. D. Bellicoso, H. Heijnen, R. Diethelm, M. Bloesch, P. Fankhauser, J. Hwangbo, M. Hoepflinger et al. , “Practice makes perfect: An optimization-based approach to controlling agile motions for a quadruped robot,” IEEE Robotics & Automation Magazine , vol. 23, no. 1, pp. 34–43, 2016
2016
Earlier work this paper cites.
T. Horvat, K. Melo, and A. J. Ijspeert, “Model predictive control based framework for com control of a quadruped robot,” in 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) . IEEE, 2017, pp. 3372–3378
2017
Earlier work this paper cites.
2017
Earlier work this paper cites.
G. Bledt, M. J. Powell, B. Katz, J. Di Carlo, P. M. Wensing, and S. Kim, “Mit cheetah 3: Design and control of a robust, dynamic quadruped robot,” in 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) . IEEE, 2018, pp. 2245–2252
2018
Earlier work this paper cites.
A. W. Winkler, C. D. Bellicoso, M. Hutter, and J. Buchli, “Gait and trajectory optimization for legged systems through phase-based end-effector parameterization,” IEEE Robotics and Automation Letters , vol. 3, no. 3, pp. 1560–1567, 2018
2018
Earlier work this paper cites.
J. Tan, T. Zhang, E. Coumans, A. Iscen, Y. Bai, D. Hafner, S. Bohez, and V. Vanhoucke, “Sim-to-real: Learning agile locomotion for quadruped robots,” in Proceedings of Robotics: Science and Systems , Pittsburgh, Pennsylvania, June 2018
2018
Earlier work this paper cites.
J. Di Carlo, P. M. Wensing, B. Katz, G. Bledt, and S. Kim, “Dynamic locomotion in the mit cheetah 3 through convex model-predictive control,” in 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) , 2018, pp. 1–9
2018
Earlier work this paper cites.
Q. Nguyen, M. J. Powell, B. Katz, J. Di Carlo, and S. Kim, “Optimized jumping on the mit cheetah 3 robot,” in 2019 International Conference on Robotics and Automation (ICRA) . IEEE, 2019, pp. 7448–7454
2019
Earlier work this paper cites.
2019
Earlier work this paper cites.
F. Jenelten, J. Hwangbo, F. Tresoldi, C. D. Bellicoso, and M. Hutter, “Dynamic locomotion on slippery ground,” IEEE Robotics and Automation Letters , vol. 4, no. 4, pp. 4170–4176, 2019
2019
Earlier work this paper cites.
Y. Ding, A. Pandala, and H.-W. Park, “Real-time model predictive control for versatile dynamic motions in quadrupedal robots,” in 2019 International Conference on Robotics and Automation (ICRA) . IEEE, 2019, pp. 8484–8490
2019
Earlier work this paper cites.
R. Grandia, F. Farshidian, R. Ranftl, and M. Hutter, “Feedback mpc for torque-controlled legged robots,” in 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) , 2019, pp. 4730–4737
2019
Earlier work this paper cites.
A. Paszke, S. Gross, F. Massa, A. Lerer, J. Bradbury, G. Chanan, T. Killeen, Z. Lin, N. Gimelshein, L. Antiga et al. , “Pytorch: An imperative style, high-performance deep learning library,” Advances in neural information processing systems , vol. 32, 2019
2019
Earlier work this paper cites.
ANYbotics, “Anymal: Autonomous legged robot,” Product Information, 2020. [Online]. Available: https://www.anybotics.com/anymal
2020
Earlier work this paper cites.
“A1 Website,” 2020. [Online]. Available: https://www.unitree.com/products/a1/
2020
Cited alongside, same era.
O. Villarreal, V. Barasuol, P. M. Wensing, D. G. Caldwell, and C. Semini, “Mpc-based controller with terrain insight for dynamic legged locomotion,” in 2020 IEEE International Conference on Robotics and Automation (ICRA) . IEEE, 2020, pp. 2436–2442
2020
Cited alongside, same era.
Z. Xie, H. Y. Ling, N. H. Kim, and M. van de Panne, “Allsteps: curriculum-driven learning of stepping stone skills,” in Computer Graphics Forum , vol. 39, no. 8. Wiley Online Library, 2020, pp. 213–224
2020
Cited alongside, same era.
2020
Cited alongside, same era.
2022
Later among the works it cites.
2022
Later among the works it cites.
T. Miki, J. Lee, J. Hwangbo, L. Wellhausen, V. Koltun, and M. Hutter, “Learning robust perceptive locomotion for quadrupedal robots in the wild,” Science Robotics , vol. 7, no. 62, p. eabk2822, 2022
2022
Later among the works it cites.
Y. Yang, T. Zhang, E. Coumans, J. Tan, and B. Boots, “Fast and efficient locomotion via learned gait transitions,” in Conference on Robot Learning . PMLR, 2022, pp. 773–783
2022
Later among the works it cites.
alphaXiv searches the wider corpus for related work and actual follow-ups.
alphaXiv is searching for related work…
2020
Cited alongside, same era.
“Go1 Website,” 2021. [Online]. Available: https://www.unitree.com/products/go1/
2021
Cited alongside, same era.
S. Gilroy, D. Lau, L. Yang, E. Izaguirre, K. Biermayer, A. Xiao, M. Sun, A. Agrawal, J. Zeng, Z. Li et al. , “Autonomous navigation for quadrupedal robots with optimized jumping through constrained obstacles,” in 2021 IEEE 17th International Conference on Automation Science and Engineering (CASE) . IEEE, 2021, pp. 2132–2139
2021
Cited alongside, same era.
C. Nguyen and Q. Nguyen, “Contact-timing and trajectory optimization for 3d jumping on quadruped robots. arxiv. 10.48550,” arXiv preprint ARXIV.2110.06764 , 2021
2021
Cited alongside, same era.
A. Kumar, Z. Fu, D. Pathak, and J. Malik, “Rma: Rapid motor adaptation for legged robots,” Robotics: Science and Systems , 2021
2021
Cited alongside, same era.
S. Qi, W. Lin, Z. Hong, H. Chen, and W. Zhang, “Perceptive autonomous stair climbing for quadrupedal robots,” in 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) . IEEE, 2021, pp. 2313–2320
2021
Cited alongside, same era.
H.-W. Park, P. M. Wensing, and S. Kim, “Jumping over obstacles with mit cheetah 2,” Robotics and Autonomous Systems , vol. 136, p. 103703, 2021
2021
Cited alongside, same era.
V. Makoviychuk, L. Wawrzyniak, Y. Guo, M. Lu, K. Storey, M. Macklin, D. Hoeller, N. Rudin, A. Allshire, A. Handa, and G. State, “Isaac gym: High performance gpu-based physics simulation for robot learning,” 2021
2021
Cited alongside, same era.
N. Rudin, D. Hoeller, P. Reist, and M. Hutter, “Learning to walk in minutes using massively parallel deep reinforcement learning,” in Conference on Robot Learning . PMLR, 2022, pp. 91–100
2022
Later among the works it cites.
2023
Later among the works it cites.
Z. Zhuang, Z. Fu, J. Wang, C. G. Atkeson, S. Schwertfeger, C. Finn, and H. Zhao, “Robot parkour learning,” in CoRL 2023 , 2023
2023
Later among the works it cites.
2023
Later among the works it cites.
2023
Later among the works it cites.
A. Agarwal, A. Kumar, J. Malik, and D. Pathak, “Legged locomotion in challenging terrains using egocentric vision,” in Conference on Robot Learning . PMLR, 2023, pp. 403–415
2023
Later among the works it cites.
2023
Later among the works it cites.
R. Grandia, F. Jenelten, S. Yang, F. Farshidian, and M. Hutter, “Perceptive locomotion through nonlinear model-predictive control,” IEEE Transactions on Robotics , vol. 39, no. 5, pp. 3402–3421, 2023
2023
Later among the works it cites.
G. B. Margolis and P. Agrawal, “Walk these ways: Tuning robot control for generalization with multiplicity of behavior,” in Conference on Robot Learning . PMLR, 2023, pp. 22–31
2023
Later among the works it cites.
2023
Later among the works it cites.
2023
Later among the works it cites.
2024
Closest in time.
T. He, C. Zhang, W. Xiao, G. He, C. Liu, and G. Shi, “Agile But Safe: Learning Collision-Free High-Speed Legged Locomotion,” in Proceedings of Robotics: Science and Systems , Delft, Netherlands, July 2024
2024
Closest in time.