awesome-rl-for-legged-locomotion
A curated list of awesome material on legged robot locomotion using reinforcement learning (RL) and sim-to-real techniques.
https://github.com/apexrl/awesome-rl-for-legged-locomotion
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Quadruped Locomotion
- Lifelike Agility and Play on Quadrupedal Robots Using Reinforcement Learning and Generative Pre-trained Models
- Lifelike Agility and Play on Quadrupedal Robots Using Reinforcement Learning and Generative Pre-trained Models
- Lifelike Agility and Play on Quadrupedal Robots Using Reinforcement Learning and Generative Pre-trained Models
- Lifelike Agility and Play on Quadrupedal Robots Using Reinforcement Learning and Generative Pre-trained Models
- Lifelike Agility and Play on Quadrupedal Robots Using Reinforcement Learning and Generative Pre-trained Models
- Lifelike Agility and Play on Quadrupedal Robots Using Reinforcement Learning and Generative Pre-trained Models
- Lifelike Agility and Play on Quadrupedal Robots Using Reinforcement Learning and Generative Pre-trained Models
- Lifelike Agility and Play on Quadrupedal Robots Using Reinforcement Learning and Generative Pre-trained Models
- Lifelike Agility and Play on Quadrupedal Robots Using Reinforcement Learning and Generative Pre-trained Models
- Lifelike Agility and Play on Quadrupedal Robots Using Reinforcement Learning and Generative Pre-trained Models
- Lifelike Agility and Play on Quadrupedal Robots Using Reinforcement Learning and Generative Pre-trained Models
- Lifelike Agility and Play on Quadrupedal Robots Using Reinforcement Learning and Generative Pre-trained Models
- Lifelike Agility and Play on Quadrupedal Robots Using Reinforcement Learning and Generative Pre-trained Models
- Lifelike Agility and Play on Quadrupedal Robots Using Reinforcement Learning and Generative Pre-trained Models
- Lifelike Agility and Play on Quadrupedal Robots Using Reinforcement Learning and Generative Pre-trained Models
- Lifelike Agility and Play on Quadrupedal Robots Using Reinforcement Learning and Generative Pre-trained Models
- Sim-to-Real: Learning Agile Locomotion for Quadruped Robots
- Learning Agile Robotic Locomotion Skills by Imitating Animals
- RMA: Rapid Motor Adaptation for Legged Robots
- Walk These Ways: Tuning Robot Control for Generalization with Multiplicity of Behavior
- Rapid Locomotion via Reinforcement Learning
- Adversarial Motion Priors Make Good Substitutes for Complex Reward Functions
- Learning Robust and Agile Legged Locomotion Using Adversarial Motion Priors - L*, 2023.
- Lifelike Agility and Play on Quadrupedal Robots Using Reinforcement Learning and Generative Pre-trained Models
- Learning Agile Skills via Adversarial Imitation of Rough Partial Demonstrations
- Extreme Parkour with Legged Robots & Robot Parkour Learning
- PIE: Parkour with Implicit-Explicit Learning Framework for Legged Robots - L*, 2024.
- Sim-to-Real: Learning Agile Locomotion for Quadruped Robots
- Learning Agile Robotic Locomotion Skills by Imitating Animals
- RMA: Rapid Motor Adaptation for Legged Robots
- Walk These Ways: Tuning Robot Control for Generalization with Multiplicity of Behavior
- Rapid Locomotion via Reinforcement Learning
- Adversarial Motion Priors Make Good Substitutes for Complex Reward Functions
- Learning Robust and Agile Legged Locomotion Using Adversarial Motion Priors - L*, 2023.
- Lifelike Agility and Play on Quadrupedal Robots Using Reinforcement Learning and Generative Pre-trained Models
- Learning Agile Skills via Adversarial Imitation of Rough Partial Demonstrations
- Extreme Parkour with Legged Robots & Robot Parkour Learning
- PIE: Parkour with Implicit-Explicit Learning Framework for Legged Robots - L*, 2024.
- Lifelike Agility and Play on Quadrupedal Robots Using Reinforcement Learning and Generative Pre-trained Models
- Lifelike Agility and Play on Quadrupedal Robots Using Reinforcement Learning and Generative Pre-trained Models
- Lifelike Agility and Play on Quadrupedal Robots Using Reinforcement Learning and Generative Pre-trained Models
- Lifelike Agility and Play on Quadrupedal Robots Using Reinforcement Learning and Generative Pre-trained Models
- Lifelike Agility and Play on Quadrupedal Robots Using Reinforcement Learning and Generative Pre-trained Models
- Lifelike Agility and Play on Quadrupedal Robots Using Reinforcement Learning and Generative Pre-trained Models
- Lifelike Agility and Play on Quadrupedal Robots Using Reinforcement Learning and Generative Pre-trained Models
- Lifelike Agility and Play on Quadrupedal Robots Using Reinforcement Learning and Generative Pre-trained Models
- Lifelike Agility and Play on Quadrupedal Robots Using Reinforcement Learning and Generative Pre-trained Models
- Lifelike Agility and Play on Quadrupedal Robots Using Reinforcement Learning and Generative Pre-trained Models
- Lifelike Agility and Play on Quadrupedal Robots Using Reinforcement Learning and Generative Pre-trained Models
- Lifelike Agility and Play on Quadrupedal Robots Using Reinforcement Learning and Generative Pre-trained Models
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Core Papers by ETH Robotics System Lab
- Learning Agile Locomotion on Risky Terrains
- ANYmal Parkour: Learning Agile Navigation for Quadrupedal Robots
- Learning Quadrupedal Locomotion over Challenging Terrain
- Learning to Walk in Minutes Using Massively Parallel Deep RL
- "legged_gym"
- Learning Agile Locomotion on Risky Terrains
- ANYmal Parkour: Learning Agile Navigation for Quadrupedal Robots
- DTC: Deep Tracking Control
- Learning Agile and Dynamic Motor Skills for Legged Robots
- Learning Quadrupedal Locomotion over Challenging Terrain
- Learning to Walk in Minutes Using Massively Parallel Deep RL
- "legged_gym"
- Learning Robust Perceptive Locomotion for Quadrupedal Robots in the Wild
- Elevation Mapping for Locomotion and Navigation using GPU
- Advanced Skills through Multiple Adversarial Motion Priors in Reinforcement Learning
- Curiosity-Driven Learning of Joint Locomotion and Manipulation Tasks
- Learning Agile and Dynamic Motor Skills for Legged Robots
- Learning Robust Perceptive Locomotion for Quadrupedal Robots in the Wild
- Elevation Mapping for Locomotion and Navigation using GPU
- Advanced Skills through Multiple Adversarial Motion Priors in Reinforcement Learning
- Curiosity-Driven Learning of Joint Locomotion and Manipulation Tasks
- DTC: Deep Tracking Control
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Quadruped Whole-Body Control
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Humanoid Locomotion / Whole-Body Control / Loco-Manipulation
- Sim-to-Real Learning of All Common Bipedal Gaits via Periodic Reward Composition
- Expressive Whole-Body Control for Humanoid Robots - Body Control](https://arxiv.org/abs/2412.13196). *arXiv*, 2024.
- Open-TeleVision: Teleoperation with Immersive Active Visual Feedback - TeleVision: Predictive Motion Priors for Humanoid Whole-Body Control](https://arxiv.org/abs/2412.07773). *arXiv*, 2024.
- HOVER: Versatile Neural Whole-Body Controller for Humanoid Robots
- HugWBC: A Unified and General Humanoid Whole-Body Controller for Fine-Grained Locomotion
- Sim-to-Real Learning of All Common Bipedal Gaits via Periodic Reward Composition
- Expressive Whole-Body Control for Humanoid Robots - Body Control](https://arxiv.org/abs/2412.13196). *arXiv*, 2024.
- Open-TeleVision: Teleoperation with Immersive Active Visual Feedback - TeleVision: Predictive Motion Priors for Humanoid Whole-Body Control](https://arxiv.org/abs/2412.07773). *arXiv*, 2024.
- HOVER: Versatile Neural Whole-Body Controller for Humanoid Robots
- HugWBC: A Unified and General Humanoid Whole-Body Controller for Fine-Grained Locomotion
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Core Papers by KAIST
- Concurrent Training of a Control Policy and a State Estimator for Dynamic and Robust Legged Locomotion - L*, 2022.
- DreamWaQ: Learning Robust Quadrupedal Locomotion with Implicit Terrain Imagination via Deep RL
- Learning Quadrupedal Locomotion on Deformable Terrain
- A Learning Framework for Diverse Legged Robot Locomotion Using Barrier-Based Style Rewards
- Concurrent Training of a Control Policy and a State Estimator for Dynamic and Robust Legged Locomotion - L*, 2022.
- DreamWaQ: Learning Robust Quadrupedal Locomotion with Implicit Terrain Imagination via Deep RL
- Learning Quadrupedal Locomotion on Deformable Terrain
- A Learning Framework for Diverse Legged Robot Locomotion Using Barrier-Based Style Rewards
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