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Papers related to Legged locomotion
legged-robots's Introduction
Emergent Real-World Robotic Skills via Unsupervised Off-Policy Reinforcement Learning [Paper]
DYNAMICS-AWARE UNSUPERVISED DISCOVERY OF SKILLS [Paper]
Learning Diverse Skills for Local Navigation under Multi-constraint Optimality [Paper]
Skill Learning/skill mixing:
Multi-expert learning of adaptive legged locomotion [Paper]
RSG: Fast Learning Adaptive Skills for Quadruped Robots by Skill Graph [Paper]
Imitate and Repurpose: Learning Reusable Robot Movement Skills From Human and Animal Behaviors [Paper] [website] [Imitation learning ]
Walk These Ways: Tuning Robot Control for Generalization with Multiplicity of Behavior [Website]
Imitation Learning from MPC for Quadrupedal Multi-Gait Control [Paper]
Minimizing Energy Consumption Leads to the Emergence of Gaits in Legged Robots [Paper]
Agile But Safe: Learning Collision-Free High-Speed Legged Locomotion [Website]
RL + Model-based Control: Using On-demand Optimal Control to Learn Versatile Legged Locomotion. [Paper]
Safe Importance Sampling in Model Predictive Path Integral Control. [Paper]
Leveraging Randomized Smoothing for Optimal Control of Nonsmooth Dynamical Systems [Paper]
First Order Approximation of Model Predictive Control Solutions for High Frequency Feedback [Paper]
A Hierarchical Scheme for Adapting Learned Quadruped Locomotion [Paper]
Learning Quadrupedal Locomotion over Challenging Terrain [Paper]
End-to-End Differentiable Physics for Learning and Control [Paper]
Optimization-Based Control for Dynamic Legged Robots [Paper]
DREAM TO CONTROL: LEARNING BEHAVIORS BY LATENT IMAGINATION [Paper]
Adaptive CLF-MPC With Application To Quadrupedal Robots [Paper]
Safe Importance Sampling in Model Predictive Path Integral Control [Paper]
Learning Robust and Agile Legged Locomotion Using Adversarial Motion Priors [Paper]
Learning a Single Policy for Diverse Behaviors on a Quadrupedal Robot using Scalable Motion Imitation [Paper]
OPT-Mimic: Imitation of Optimized Trajectories for Dynamic Quadruped Behaviors [Paper]
Gradient-Based Trajectory Optimization With Learned Dynamics [Paper]
DTC: Deep Tracking Control [Paper]
CoVO-MPC: Theoretical Analysis of Sampling-based MPC and Optimal Covariance Design [Website]
Reinforcement Learning for Versatile, Dynamic, and Robust Bipedal Locomotion Control [Paper]
ValueNetQP: Learned one-step optimal control for legged locomotion [Paper]
DeepGait: Planning and Control of Quadrupedal Gaits using Deep Reinforcement Learning [Paper]
Extreme Parkour with Legged Robots [Paper]
Barkour: Benchmarking Animal-level Agility with Quadruped Robots [Paper]
Temporal Difference Learning for Model Predictive Control [Paper] [Code]
a. SIMPLIFYING MODEL-BASED RL: LEARNING REPRESENTATIONS, LATENT-SPACE MODELS, AND POLICIES WITH ONE OBJECTIVE [Paper]
Lagrangian Neural Newtork:
LNN [Medium] [code] [Paper]
DECONSTRUCTING THE INDUCTIVE BIASES OF HAMILTONIAN NEURAL NETWORKS [Paper]
Neural Networks with Physics-Informed Architectures and Constraints for Dynamical Systems Modeling [Paper]
Simplifying Hamiltonian and Lagrangian Neural Networks via Explicit Constraints [Paper] [code]
Lagrangian Model Based Reinforcement Learning [Paper]
Deep Lagrangian Networks for end-to-end learning of energy-based control for under-actuated systems [Paper]
Learning Contact Dynamics using Physically Structured Neural Networks [Paper] [code]
SYMPLECTIC ODE-NET: LEARNING HAMILTONIAN DYNAMICS WITH CONTROL [Paper]
Compositional Learning of Dynamical System Models Using Port-Hamiltonian Neural Networks [Paper]
Combining Physics and Deep Learning to learn Continuous-Time Dynamics Models [Paper] [code]
Extending Lagrangian and Hamiltonian Neural Networks with Differentiable Contact Models [Paper] [code]
ModLaNets: Learning Generalisable Dynamics via Modularity and Physical Inductive Bias [Paper]
Dissipative Hamiltonian Neural Networks: Learning Dissipative and Conservative Dynamics Separately [Paper]
Symmetries of Lagrangians and of their equations of motion [Paper]
Rough Terrain Locomotion:
Adaptive Force-Based Control of Dynamic Legged Locomotion over Uneven Terrain [Paper]
Towards Legged Locomotion on Steep Planetary Terrain [Paper]
Learning Agile Locomotion and Adaptive Behaviors via RL-augmented MPC [Paper]
Visual-Locomotion: Learning to Walk on Complex Terrains with Vision [Paper]
DreamWaQ: Learning Robust Quadrupedal Locomotion With Implicit Terrain Imagination via Deep Reinforcement Learning [Paper]
Two-layer adaptive trajectory tracking controller for quadruped robots on slippery terrains [Paper]
Hierarchical Adaptive Loco-manipulation Control for Quadruped Robots [Paper]
Contact Optimization for Non-Prehensile Loco-Manipulation via Hierarchical Model Predictive Control [Paper]
RoLoMa: robust loco-manipulation for quadruped robots with arms [Paper]
Decision Transformer: Reinforcement Learning via Sequence Modeling [Website]
Sim-to-Real Transfer for Quadrupedal Locomotion via Terrain Transformer [Paper]
Courses and related reads:
The Feynmann Lectures on Physics(V1), [Link]
Machine Learning and Physics: A Survey of Integrated Models [Paper]
The Cross-Entropy Method for Optimization [Paper]
WoLF: the Whole-body Locomotion Framework for Quadruped Robots [Github]
RL by David Silver [Link] [Code/Assignment]
Mastering Diverse Domains through World Models [Website]
Inverse Reinforcement Learning without Reinforcement Learning [Website]
Transfer Learning [Github]
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