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Awesome_Quadrupedal_Robots 
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🔤 Except for repositories, which are categorized based on relevancy, the items below are in alphabetical order.
Good to start 🧐
- Boston Dynamics Spot Robot | All of its Engineering SECRETS!
- Development of quadruped walking robots: A review
- Quadruped Robot Basics
- Underactuated Robotics - Russ Tedrake - MIT
Quadrupedal Robot 🐅
Platforms
Papers 📑
It could include abroad keywords related to quadrupedal walking robots, e.g. control methods or reinforcement learning
2026
- AME-2: Agile and Generalized Legged Locomotion via Attention-Based Neural Map Encoding
- Attention-Based Neural-Augmented Kalman Filter for Legged Robot State Estimation
- AutoPath: Learning Transferable Goal-Conditioned Stochastic Path Prior for Safe Navigation Without Human Demonstrations
- Dual-Horizon Hybrid Internal Model for Low-Gravity Quadrupedal Jumping with Hardware-in-the-Loop Validation
- Energy Prediction on Sloping Ground for Quadruped Robots
- Feedback-MPPI: Fast Sampling-Based MPC via Rollout Differentiation -- Adios Low-Level Controllers
- Jumping Control for a Quadrupedal Wheeled-Legged Robot via NMPC and DE Optimization
- Learning Accurate and Robust Velocity Tracking for Quadrupedal Robots
- Learning Quadrupedal Locomotion for a Heavy Hydraulic Robot Using an Actuator Model
- Load-bearing Assessment for Safe Locomotion of Quadruped Robots on Collapsing Terrain
- MLM: Learning Multi-Task Loco-Manipulation Whole-Body Control for Quadruped Robot With Arm
- Primal-Dual iLQR for GPU-Accelerated Learning and Control in Legged Robots
- Proprioceptive Image: An Image Representation of Proprioceptive Data from Quadruped Robots for Contact Estimation Learning
- Reinforcement Learning for Robust Climbing Locomotion With Rope-Driven Legged Robot
- START: Traversing Sparse Footholds With Terrain Reconstruction
- Teaching Robots Like Dogs: Learning Agile Navigation from Luring, Gesture, and Speech
- WARL: Wrench-Augmented Reinforcement Learning for Task-Agnostic Learning in Legged Robots
2025
- Adaptive Non-linear Centroidal MPC with Stability Guarantees for Robust Locomotion of Legged Robots
- ADEPT: Adaptive Diffusion Environment for Policy Transfer Sim-to-Real
- Benchmarking Different QP Formulations and Solvers for Dynamic Quadrupedal Walking
- Bipedalism for Quadrupedal Robots: Versatile Loco-Manipulation through Risk-Adaptive Reinforcement Learning
- Bridging the Sim-to-Real Gap for Athletic Loco-Manipulation
- CAIMAN: Causal Action Influence Detection for Sample Efficient Loco-manipulation
- Disturbance-Aware Adaptive Compensation in Hybrid Force-Position Locomotion Policy for Legged Robots
- FACET: Force-Adaptive Control via Impedance Reference Tracking for Legged Robots
- Floating-Base Deep Lagrangian Networks
- Generating Diverse Challenging Terrains for Legged Robots Using Quality-Diversity Algorithm
- Learned Perceptive Forward Dynamics Model for Safe and Platform-aware Robotic Navigation
- Learning coordinated badminton skills for legged manipulators
- Learning Stable Bipedal Locomotion Skills for Quadrupedal Robots on Challenging Terrains with Automatic Fall Recovery
- Learning Steerable Imitation Controllers from Unstructured Animal Motions
- Learning Unified Force and Position Control for Legged Loco-Manipulation
- LEVA: A high-mobility logistic vehicle with legged suspension
- Load-bearing Assessment for Safe Locomotion of Quadruped Robots on Collapsing Terrain
- LocoTouch: Learning Dexterous Quadrupedal Transport with Tactile Sensing
- Long-horizon Locomotion and Manipulation on a Quadrupedal Robot with Large Language Models
- MoRE: Unlocking Scalability in Reinforcement Learning for Quadruped Vision-Language-Action Models
- MuJoCo Playground
- Multi-Quadruped Cooperative Object Transport: Learning Decentralized Pinch-Lift-Move
- NaVILA: Legged Robot Vision-Language-Action Model for Navigation
- NIL: No-data Imitation Learning by Leveraging Pre-trained Video Diffusion Models
- Obstacle-Avoidant Leader Following with a Quadruped Robot
- Omni-Perception: Omnidirectional Collision Avoidance for Legged Locomotion in Dynamic Environments
- Parkour in the Wild: Learning a General and Extensible Agile Locomotion Policy Using Multi-expert Distillation and RL Fine-tuning
- Physics-Based Motion Imitation with Adversarial Differential Discriminators
- Primal-Dual iLQR for GPU-Accelerated Learning and Control in Legged Robots
- QUART-Online: Latency-Free Large Multimodal Language Model for Quadruped Robot Learning
- RAMBO: RL-augmented Model-based Whole-body Control for Loco-manipulation
- Real-Time Out-of-Distribution Failure Prevention via Multi-Modal Reasoning
- Sampling-Based System Identification with Active Exploration for Legged Robot Sim2Real Learning
- Spatio-Temporal Motion Retargeting for Quadruped Robots
- TAR: Teacher-Aligned Representations via Contrastive Learning for Quadrupedal Locomotion
- Towards Quadrupedal Jumping and Walking for Dynamic Locomotion using Reinforcement Learning
- Unsupervised Skill Discovery as Exploration for Learning Agile Locomotion
- Variable Stiffness for Robust Locomotion through Reinforcement Learning
- Versatile Legged Locomotion Adaptation through Vision-Language Grounding
- Versatile Loco-Manipulation through Flexible Interlimb Coordination
- VR-Robo: A Real-to-Sim-to-Real Framework for Visual Robot Navigation and Locomotion
- Whole-Body End-Effector Pose Tracking
2024
- A Study of Lightweight, Low-cost Quadrupedal Robot Body Based on a Coaxial Deformation Mechanism
- Accelerating Model Predictive Control for Legged Robots through Distributed Optimization
- Accessorizing Quadrupedal Robots with Wearable Electronics
- Agile But Safe: Learning Collision-Free High-Speed Legged Locomotion
- Arm-Constrained Curriculum Learning for Loco-Manipulation of the Wheel-Legged Robot
- Body Transformer: Leveraging Robot Embodiment for Policy Learning
- Cafe-Mpc: A Cascaded-Fidelity Model Predictive Control Framework with Tuning-Free Whole-Body Control
- CaT: Constraints as Terminations for Legged Locomotion Reinforcement Learning
- Contrastive Initial State Buffer for Reinforcement Learning
- Convergent iLQR for Safe Trajectory Planning and Control of Legged Robots
- CROSS-GAiT: Cross-Attention-Based Multimodal Representation Fusion for Parametric Gait Adaptation in Complex Terrains
- Deep Compliant Control for Legged Robots
- DexDribbler: Learning Dexterous Soccer Manipulation via Dynamic Supervision
- DiffuseLoco: Real-Time Legged Locomotion Control with Diffusion from Offline Datasets
- DrEureka: Language Model Guided Sim-To-Real Transfer
- DTC: Deep Tracking Control
- Dynamic Fall Recovery Control for Legged Robots via Reinforcement Learning
- Enhancing Quadruped Robot Locomotion on Deformable Terrains Through Contact Perception and Terrain Classification
- Eurekaverse: Environment Curriculum Generation via Large Language Models
- Expert Composer Policy: Scalable Skill Repertoire for Quadruped Robots
- Fast Traversability Estimation for Wild Visual Navigation
- GeRM: A Generalist Robotic Model with Mixture-of-experts for Quadruped Robot
- Guided Reinforcement Learning for Robust Multi-Contact Loco-Manipulation
- H2- and H∞-Optimal Model Predictive Controllers for Robust Legged Locomotion
- Hierarchical Open-Vocabulary 3D Scene Graphs for Language-Grounded Robot Navigation
- Hybrid Internal Model: Learning Agile Legged Locomotion with Simulated Robot Response
- Identifying Terrain Physical Parameters from Vision - Towards Physical-Parameter-Aware Locomotion and Navigation
- Jumping Locomotion of Quadruped Robot During Running Based on Multiple Model Fusion
- Learning Advanced Locomotion for Quadrupedal Robots: A Distributed Multi-Agent Reinforcement Learning Framework with Riemannian Motion Policies
- Learning Bipedal Walking on a Quadruped Robot via Adversarial Motion Priors
- Learning Force Control for Legged Manipulation
- Learning Quadruped Locomotion using Differentiable Simulation
- Learning Quadrupedal High-Speed Running on Uneven Terrain
- Learning Risk-Aware Quadrupedal Locomotion using Distributional Reinforcement Learning
- Learning robust autonomous navigation and locomotion for wheeled-legged robots
- Learning to walk in confined spaces using 3D representation
- Learning Visual Quadrupedal Loco-Manipulation from Demonstrations
- Learning-based legged locomotion; state of the art and future perspectives
- Learning-Based Locomotion Controllers for Quadruped Robots in Indoor Stair Climbing via Deep Reinforcement Learning
- Legged Robot State Estimation With Invariant Extended Kalman Filter Using Neural Measurement Network
- LiteVLoc: Map-Lite Visual Localization for Image Goal Navigation
- LoopSR: Looping Sim-and-Real for Lifelong Policy Adaptation of Legged Robots
- ManyQuadrupeds: Learning a Single Locomotion Policy for Diverse Quadruped Robots
- MEVIUS: A Quadruped Robot Easily Constructed through E-Commerce with Sheet Metal Welding and Machining
- Morphological Symmetries in Robotics
- MQE: Unleashing the Power of Interaction with Multi-agent Quadruped Environment
- Non-Gaited Legged Locomotion with Monte-Carlo Tree Search and Supervised Learning
- Obstacle-Aware Quadrupedal Locomotion With Resilient Multi-Modal Reinforcement Learning
- Offline Adaptation of Quadruped Locomotion using Diffusion Models
- Offline Diversity Maximization Under Imitation Constraints
- One Policy to Run Them All: an End-to-end Learning Approach to Multi-Embodiment Locomotion
- Online Hierarchical Planning for Multicontact Locomotion Control of Quadruped Robots
- OptiState: State Estimation of Legged Robots using Gated Networks with Transformer-based Vision and Kalman Filtering
- Oscillating latent dynamics in robot systems during walking and reaching
- Pedipulate: Enabling Manipulation Skills using a Quadruped Robot's Leg
- Pegasus: a Novel Bio-inspired Quadruped Robot with Underactuated Wheeled-Legged Mechanism *
- PIE: Parkour With Implicit-Explicit Learning Framework for Legged Robots
- ProNav: Proprioceptive Traversability Estimation for Legged Robot Navigation in Outdoor Environments
- Reduced Model Predictive Control Toward Highly Dynamic Quadruped Locomotion
- Reinforcement Learning For Quadrupedal Locomotion: Current Advancements And Future Perspectives
- Residual Policy Learning for Perceptive Quadruped Control Using Differentiable Simulation
- Rethinking Robustness Assessment: Adversarial Attacks on Learning-based Quadrupedal Locomotion Controllers
- RL2AC: Reinforcement Learning-based Rapid Online Adaptive Control for Legged Robot Robust Locomotion
- Robots with Attitude: Singularity-Free Quaternion-Based Model-Predictive Control for Agile Legged Robots
- Robust Ladder Climbing with a Quadrupedal Robot
- Sim-to-Real: A Performance Comparison of PPO, TD3, and SAC Reinforcement Learning Algorithms for Quadruped Walking Gait Generation
- Similar but Different: A Survey of Ground Segmentation and Traversability Estimation for Terrestrial Robots
- Simulation of autonomous rhythm and gait generation in quadrupedal locomotion with hindlegs
- Skill Latent Space Based Multigait Learning for a Legged Robot
- Slip Detection and Recovery for Quadruped Robots via Orthogonal Decomposition
- SLR: Learning Quadruped Locomotion without Privileged Information
- SoloParkour: Constrained Reinforcement Learning for Visual Locomotion from Privileged Experience
- Spatio-Temporal Motion Retargeting for Quadruped Robots
- SYNLOCO‐VE: Synthesizing central pattern generator with reinforcement learning and velocity estimator for quadruped locomotion
- Track2Act: Predicting Point Tracks from Internet Videos enables Diverse Zero-shot Robot Manipulation
- UMI on Legs: Making Manipulation Policies Mobile with Manipulation-Centric Whole-body Controllers
- Understanding URDF: A Dataset and Analysis
- Viability leads to the emergence of gait transitions in learning agile quadrupedal locomotion on challenging terrains
- ViPlanner: Visual Semantic Imperative Learning for Local Navigation
- Visual Whole-Body Control for Legged Loco-Manipulation
- VLFM: Vision-Language Frontier Maps for Zero-Shot Semantic Navigation
2023
- Adaptive Control Strategy for Quadruped Robots in Actuator Degradation Scenarios
- Adaptive Locomotion Learning for Quadruped Robots by Combining DRL with a Cosine Oscillator Based Rhythm Controller
- Adaptive walking control for quadruped robot by using oscillation patterns
- AMP in the wild: Learning robust, agile, natural legged locomotion skills
- ANYmal Parkour: Learning Agile Navigation for Quadrupedal Robots
- ARMP: Autoregressive Motion Planning for Quadruped Locomotion and Navigation in Complex Indoor Environments
- ArtPlanner: Robust Legged Robot Navigation in the Field
- ASC: Adaptive Skill Coordination for Robotic Mobile Manipulation
- Autonomous Stair Ascending and Descending by Quadruped Wheelchairs
- Barkour: Benchmarking Animal-level Agility with Quadruped Robots
- Barry: A High-Payload and Agile Quadruped Robot
- Combining model-predictive control and predictive reinforcement learning for stable quadrupedal robot locomotion
- Controlling the Solo12 quadruped robot with deep reinforcement learning
- Curiosity-Driven Learning of Joint Locomotion and Manipulation Tasks
- DeepTransition: Viability Leads to the Emergence of Gait Transitions in Learning Anticipatory Quadrupedal Locomotion Skills
- DOC: Differentiable Optimal Control for Retargeting Motions onto Legged Robots
- Dojo: A Differentiable Physics Engine for Robotics
- DreamWaQ: Learning Robust Quadrupedal Locomotion With Implicit Terrain Imagination via Deep Reinforcement Learning
- DribbleBot: Dynamic Legged Manipulation in the Wild
- Drilling Task with a Quadruped Robot for Silage Face Measurements
- DTC: Deep Tracking Control - A Unifying Approach to Model-Based Planning and Reinforcement-Learning for Versatile and Robust Locomotion
- Evaluation of Constrained Reinforcement Learning Algorithms for Legged Locomotion
- Event Camera-based Visual Odometry for Dynamic Motion Tracking of a Legged Robot Using Adaptive Time Surface
- Event-based Agile Object Catching with a Quadrupedal Robot
- Expanding Versatility of Agile Locomotion through Policy Transitions Using Latent State Representation
- Extreme Parkour with Legged Robots
- Fast Traversability Estimation for Wild Visual Navigation
- From Data-Fitting to Discovery: Interpreting the Neural Dynamics of Motor Control through Reinforcement Learning
- Geometric Mechanics of Contact-Switching Systems
- Grow Your Limits: Continuous Improvement with Real-World RL for Robotic Locomotion
- Guardians as You Fall: Active Mode Transition for Safe Falling
- Hierarchical Experience-informed Navigation for Multi-modal Quadrupedal Rebar Grid Traversal
- Identifying important sensory feedback for learning locomotion skills
- Intelligent Control of Multilegged Robot Smooth Motion: A Review
- iPlanner: Imperative Path Planning
- Language to Rewards for Robotic Skill Synthesis
- Layered Control for Cooperative Locomotion of Two Quadrupedal Robots: Centralized and Distributed Approaches
- Learning a Single Policy for Diverse Behaviors on a Quadrupedal Robot using Scalable Motion Imitation
- Learning Agility and Adaptive Legged Locomotion via Curricular Hindsight Reinforcement Learning
- Learning and Adapting Agile Locomotion Skills by Transferring Experience
- Learning Arm-Assisted Fall Damage Reduction and Recovery for Legged Mobile Manipulators
- Learning Complex Motor Skills for Legged Robot Fall Recovery
- Learning Impulse-Reduced Gait for Quadruped Robot using CMA-ES
- Learning Low-Frequency Motion Control for Robust and Dynamic Robot Locomotion
- Learning Multiple Gaits within Latent Space for Quadruped Robots
- Learning Quadruped Locomotion using Bio-Inspired Neural Networks with Intrinsic Rhythmicity
- Learning quadrupedal locomotion on deformable terrain
- Learning Robust and Agile Legged Locomotion Using Adversarial Motion Priors
- Learning Robust Perception-Based Controller for Quadruped Robot
- Learning to Exploit Elastic Actuators for Quadruped Locomotion
- Learning to Walk by Steering: Perceptive Quadrupedal Locomotion in Dynamic Environments
- Learning Whole-body Manipulation for Quadrupedal Robot
- Legs as Manipulator: Pushing Quadrupedal Agility Beyond Locomotion
- Lifelike Agility and Play on Quadrupedal Robots using Reinforcement Learning and Generative Pre-trained Models
- LSC: Language-guided Skill Coordination
- LSTP: Long Short-Term Motion Planning for Legged and Legged-Wheeled Systems
- Mastering Diverse Domains through World Models
- Max: A Wheeled-Legged Quadruped Robot for Multimodal Agile Locomotion
- Multi-Contact Whole Body Force Control for Position-Controlled Robots
- Not Only Rewards But Also Constraints: Applications on Legged Robot Locomotion
- OPT-Mimic: Imitation of Optimized Trajectories for Dynamic Quadruped Behaviors
- ORBIT: A Unified Simulation Framework for Interactive Robot Learning Environments
- Orthrus: A Dual-arm Quadrupedal Robot for Mobile Manipulation and Entertainment Applications
- Perceptive Locomotion Through Nonlinear Model-Predictive Control
- Puppeteer and Marionette: Learning Anticipatory Quadrupedal Locomotion Based on Interactions of a Central Pattern Generator and Supraspinal Drive
- PyPose: A Library for Robot Learning with Physics-based Optimization
- QUAR-VLA: Vision-Language-Action Model for Quadruped Robots
- Real-Time Collision-Free Motion Planning and Control for Mobile Manipulation with Quadrupeds
- Reinforcement Learning for Legged Robots: Motion Imitation from Model-Based Optimal Control
- Reinforcement Learning from Multiple Sensors via Joint Representations
- Resilient Legged Local Navigation: Learning to Traverse with Compromised Perception End-to-End
- Responsive CPG-Based Locomotion Control for Quadruped Robots
- RL + Model-based Control: Using On-demand Optimal Control to Learn Versatile Legged Locomotion
- RoboHive: A Unified Framework for Robot Learning
- Robot Parkour Learning
- Robust Quadrupedal Locomotion via Risk-Averse Policy Learning
- Robust Recovery Motion Control for Quadrupedal Robots via Learned Terrain Imagination
- Roll-Drop: accounting for observation noise with a single parameter
- SafeSteps: Learning Safer Footstep Planning Policies for Legged Robots via Model-Based Priors
- SayTap: Language to Quadrupedal Locomotion
- Scientific Exploration of Challenging Planetary Analog Environments with a Team of Legged Robots
- Skill Graph for Real-world Quadrupedal Robot Reinforcement Learning
- SLoMo: A General System for Legged Robot Motion Imitation From Casual Videos
- Solving Challenging Control Problems via Learning-based Motion Planning and Imitation
- SYNLOCO: Synthesizing Central Pattern Generator and Reinforcement Learning for Quadruped Locomotion
- Taking the First Step Toward Autonomous Quadruped Robots: The Quadruped Robot Challenge at ICRA 2023 in London [Competitions]
- Terrain-Aware Quadrupedal Locomotion via Reinforcement Learning
- Towards Legged Locomotion on Steep Planetary Terrain
- Tuning Legged Locomotion Controllers via Safe Bayesian Optimization
- Versatile Multi-Contact Planning and Control for Legged Loco-Manipulation
2022
- A Collision-Free MPC for Whole-Body Dynamic Locomotion and Manipulation
- A Linearization of Centroidal Dynamics for the Model-Predictive Control of Quadruped Robots
- A Reconfigurable Leg for Walking Robots
- A Walk in the Park: Learning to Walk in 20 Minutes With Model-Free Reinforcement Learning
- A Whole-Body Controller Based on a Simplified Template for Rendering Impedances in Quadruped Manipulators
- A1 SLAM: Quadruped SLAM using the A1's Onboard Sensors
- Accelerated Policy Learning with Parallel Differentiable Simulation
- Accessibility-Based Clustering for Efficient Learning of Locomotion Skills
- Advanced Skills by Learning Locomotion and Local Navigation End-to-End
- Advanced Skills through Multiple Adversarial Motion Priors in Reinforcement Learning
- Agile and versatile climbing on ferromagnetic surfaces with a quadrupedal robot
- Animal Motions on Legged Robots Using Nonlinear Model Predictive Control
- Articulated Object Interaction in Unknown Scenes with Whole-Body Mobile Manipulation
- Bio-Inspired Rhythmic Locomotion for Quadruped Robots
- Central pattern generators evolved for real-time adaptation
- Cerberus: Low-Drift Visual-Inertial-Leg Odometry For Agile Locomotion
- Collision-Backpropagation based Obstacle Avoidance Method for a Legged Robot Expressed as a Simplified Dynamics Model
- Combining Learning-Based Locomotion Policy With Model-Based Manipulation for Legged Mobile Manipulators
- Concurrent Training of a Control Policy and a State Estimator for Dynamic and Robust Legged Locomotion
- Control of Wheeled-Legged Quadrupeds Using Deep Reinforcement Learning
- Coupling Vision and Proprioception for Navigation of Legged Robots
- CPG-RL: Learning Central Pattern Generators for Quadruped Locomotion
- Creating a Dynamic Quadrupedal Robotic Goalkeeper with Reinforcement Learning
- DayDreamer: World Models for Physical Robot Learning
- Deep Hierarchical Planning from Pixels
- Deep reinforcement learning for real-world quadrupedal locomotion: a comprehensive review
- Deep Whole-Body Control: Learning a Unified Policy for Manipulation and Locomotion
- DeepPhase: periodic autoencoders for learning motion phase manifolds
- DMAP: a Distributed Morphological Attention Policy for Learning to Locomote with a Changing Body
- Elevation Mapping for Locomotion and Navigation using GPU
- Factor Graph Fusion of Raw GNSS Sensing with IMU and Lidar for Precise Robot Localization without a Base Station
- GenLoco: Generalized Locomotion Controllers for Quadrupedal Robots
- Hierarchical Adaptive Loco-manipulation Control for Quadruped Robots
- Hierarchical Decentralized Deep Reinforcement Learning Architecture for a Simulated Four-Legged Agent
- Hierarchical Reinforcement Learning for Precise Soccer Shooting Skills using a Quadrupedal Robot
- High-speed quadrupedal locomotion by imitation-relaxation reinforcement learning
- Human Motion Control of Quadrupedal Robots using Deep Reinforcement Learning
- Imitate and Repurpose: Learning Reusable Robot Movement Skills From Human and Animal Behaviors
- Is Conditional Generative Modeling all you need for Decision-Making?
- Just Round: Quantized Observation Spaces Enable Memory Efficient Learning of Dynamic Locomotion
- Landing control method of a lightweight four-legged landing and walking robot
- Layered Control for Cooperative Locomotion of Two Quadrupedal Robots: Centralized and Distributed Approaches
- Learning a Unified Policy for Whole-Body Control of Manipulation and Locomotion
- Learning Agile Skills via Adversarial Imitation of Rough Partial Demonstrations
- Learning and Deploying Robust Locomotion Policies with Minimal Dynamics Randomization
- Learning Footstep Planning for the Quadrupedal Locomotion with Model Predictive Control
- Learning Forward Dynamics Model and Informed Trajectory Sampler for Safe Quadruped Navigation
- Learning Free Gait Transition for Quadruped Robots via Phase-Guided Controller
- Learning Low-Frequency Motion Control for Robust and Dynamic Robot Locomotion
- Learning Modular Robot Visual-motor Locomotion Policies
- Learning plastic matching of robot dynamics in closed-loop central pattern generators
- Learning robust perceptive locomotion for quadrupedal robots in the wild
- Learning Torque Control for Quadrupedal Locomotion
- Learning Visual Locomotion with Cross-Modal Supervision
- Legged Locomotion in Challenging Terrains using Egocentric Vision
- Locomotion Policy Guided Traversability Learning using Volumetric Representations of Complex Environments
- Meta Reinforcement Learning for Optimal Design of Legged Robots
- Model Predictive Control of Quadruped Robot Based on Reinforcement Learning
- Monte Carlo Tree Search Gait Planner for Non-Gaited Legged System Control
- Multi-Modal Legged Locomotion Framework With Automated Residual Reinforcement Learning
- Neural Scene Representation for Locomotion on Structured Terrain
- Next Steps: Learning a Disentangled Gait Representation for Versatile Quadruped Locomotion
- Nonlinear Model Predictive Control for Quadrupedal Locomotion Using Second-Order Sensitivity Analysis
- Online Kinematic Calibration for Legged Robots
- Perceptive Locomotion through Nonlinear Model Predictive Control
- PI-ARS: Accelerating Evolution-Learned Visual-Locomotion with Predictive Information Representations
- PrePARE: Predictive Proprioception for Agile Failure Event Detection in Robotic Exploration of Extreme Terrains
- PSTO: Learning Energy-Efficient Locomotion for Quadruped Robots
- Quadruped Reinforcement Learning without Explicit State Estimation
- Rapid and Reliable Quadruped Motion Planning with Omnidirectional Jumping
- Rapid Locomotion via Reinforcement Learning
- Real-time Digital Double Framework to Predict Collapsible Terrains for Legged Robots
- REvolveR: Continuous Evolutionary Models for Robot-to-robot Policy Transfer
- RLOC: Terrain-Aware Legged Locomotion using Reinforcement Learning and Optimal Control
- RoLoMa: Robust Loco-Manipulation for Quadruped Robots with Arms
- Safe Reinforcement Learning for Legged Locomotion
- Sample Efficient Dynamics Learning for Symmetrical Legged Robots:Leveraging Physics Invariance and Geometric Symmetries
- Saving the Limping: Fault-tolerant Quadruped Locomotion via Reinforcement Learning
- State Estimation for Hybrid Locomotion of Driving-Stepping Quadrupeds
- STEP: State Estimator for Legged Robots Using a Preintegrated foot Velocity Factor
- TROT-Q: Traversability and Obstacle Aware Target Tracking System for Quadruped Robots
- Unsupervised Learning of Terrain Representations for Haptic Monte Carlo Localization
- VAE-Loco: Versatile Quadruped Locomotion by Learning a Disentangled Gait Representation
- Versatile Real-Time Motion Synthesis via Kino-Dynamic MPC with Hybrid-Systems DDP
- Versatile Skill Control via Self-supervised Adversarial Imitation of Unlabeled Mixed Motions
- ViNL: Visual Navigation and Locomotion Over Obstacles
- ViTAL: Vision-Based Terrain-Aware Locomotion for Legged Robots
- Walk These Ways: Gait-conditioned Policies Yield Diversified Quadrupedal Agility
- Walking in Narrow Spaces: Safety-critical Locomotion Control for Quadrupedal Robots with Duality-based Optimization
2021
- A Review of Physics Simulators for Robotic Applications
- A Unified MPC Framework for Whole-Body Dynamic Locomotion and Manipulation
- Adaptive CLF-MPC With Application to Quadrupedal Robots
- Adaptive Force-based Control for Legged Robots
- Animal Gaits on Quadrupedal Robots Using Motion Matching and Model-Based Control
- Cat-Like Jumping and Landing of Legged Robots in Low Gravity Using Deep Reinforcement Learning
- Circus ANYmal: A Quadruped Learning Dexterous Manipulation with Its Limbs
- CPG-ACTOR: Reinforcement Learning for Central Pattern Generators
- CPG-Based Hierarchical Locomotion Control for Modular Quadrupedal Robots Using Deep Reinforcement Learning
- Development of a Quadruped Robot System With Torque-Controllable Modular Actuator Unit
- Dynamics Randomization Revisited:A Case Study for Quadrupedal Locomotion
- Efficient Motion Planning Based on Kinodynamic Model for Quadruped Robots Following Persons in Confined Spaces
- Fast and Efficient Locomotion via Learned Gait Transitions
- GLiDE: Generalizable Quadrupedal Locomotion in Diverse Environments with a Centroidal Model
- Imitation Learning by Reinforcement Learning
- Imitation Learning from MPC for Quadrupedal Multi-Gait Control
- Jumping over obstacles with MIT Cheetah 2
- Learning Agile Locomotion Skills with a Mentor
- Learning Fast Adaptation with Meta Strategy Optimization
- Learning multiple gaits of quadruped robot using hierarchical reinforcement learning
- Learning to Jump from Pixels
- Learning to Navigate Sidewalks in Outdoor Environments
- Learning to Walk in Minutes Using Massively Parallel Deep Reinforcement Learning
- Learning Vision-Guided Quadrupedal Locomotion End-to-End with Cross-Modal Transformers
- Legged Robots that Keep on Learning: Fine-Tuning Locomotion Policies in the Real World
- Minimizing Energy Consumption Leads to the Emergence of Gaits in Legged Robots
- Obstacle Overcoming Gait Design for Quadruped Robot with Vision and Tactile Sensing Feedback
- Perceptive Autonomous Stair Climbing for Quadrupedal Robots
- Real-time Optimal Navigation Planning Using Learned Motion Costs
- Reinforcement Learning for Collaborative Quadrupedal Manipulation of a Payload over Challenging Terrain
- Reinforcement Learning with Evolutionary Trajectory Generator: A General Approach for Quadrupedal Locomotion
- Representation-Free Model Predictive Control for Dynamic Motions in Quadrupeds
- RMA: Rapid Motor Adaptation for Legged Robots
- Robust High-speed Running for Quadruped Robots via Deep Reinforcement Learning
- Search-based Kinodynamic Motion Planning for Omnidirectional Quadruped Robots
- Simulation-Based Climbing Capability Analysis for Quadrupedal Robots
- Traversing Steep and Granular Martian Analog Slopes With a Dynamic Quadrupedal Robot
- VILENS: Visual, Inertial, Lidar, and Leg Odometry for All-Terrain Legged Robots
- VILENS: Visual, Inertial, Lidar, and Leg Odometryfor All-Terrain Legged Robots
- Vision-based Terrain Perception of Quadruped Robots in Complex Environments
- Visual-Locomotion: Learning to Walk on Complex Terrains with Vision
2020
- An Open Torque-Controlled Modular Robot Architecture for Legged Locomotion Research
- Dream to Control: Learning Behaviors by Latent Imagination
- Dynamic equilibrium of climbing robots based on stability polyhedron for gravito-inertial acceleration
- Dynamics-Aware Unsupervised Discovery of Skills
- Emergent Real-World Robotic Skills via Unsupervised Off-Policy Reinforcement Learning
- First Steps: Latent-Space Control with Semantic Constraints for Quadruped Locomotion
- Guided Constrained Policy Optimization for Dynamic Quadrupedal Robot Locomotion
- Learning Agile Robotic Locomotion Skills by Imitating Animals
- Learning quadrupedal locomotion over challenging terrain
- Learning to Walk in the Real World with Minimal Human Effort
- Models, Pixels, and Rewards: Evaluating Design Trade-offs in Visual Model-Based Reinforcement Learning
- Mpc-based controller with terrain insight for dynamic legged locomotion
- Multi-expert learning of adaptive legged locomotion
- One Policy to Control Them All: Shared Modular Policies for Agent-Agnostic Control
- Path Planning With Local Motion Estimations
- Perceptive Locomotion in Rough Terrain – Online Foothold Optimization
- Plane-based stairway mapping for legged robot locomotion
- Pronto: A Multi-Sensor State Estimator for Legged Robots in Real-World Scenarios
- Rapidly Adaptable Legged Robots via Evolutionary Meta-Learning
- Reinforcement learning for quadrupedal locomotion with design of continual–hierarchical curriculum
- Rolling in the Deep - Hybrid Locomotion for Wheeled-Legged Robots using Online Trajectory Optimization
- Vision Aided Dynamic Exploration of Unstructured Terrain with a Small-Scale Quadruped Robot
2019
- DeepGait: Planning and Control of Quadrupedal Gaits using Deep Reinforcement Learning
- Design a Fall Recovery Strategy for a Wheel-Legged Quadruped Robot Using Stability Feature Space
- Dynamic Locomotion on Slippery Ground
- Fast and Continuous Foothold Adaptation for Dynamic Locomotion through CNNs
- Feedback MPC for Torque-Controlled Legged Robots
- Hierarchical Reinforcement Learning for Quadruped Locomotion
- Highly Dynamic Quadruped Locomotion via Whole-Body Impulse Control and Model Predictive Control
- Learning a Faster Locomotion Gait for a Quadruped Robot with Model-Free Deep Reinforcement Learning
- Learning agile and dynamic motor skills for legged robots
- Model Predictive Control for Motion Planning of Quadrupedal Locomotion
- Policies Modulating Trajectory Generators
- Robust Legged Robot State Estimation Using Factor Graph Optimization
- SpaceBok: A Dynamic Legged Robot for Space Exploration
- Stabilizing Off-Policy Q-Learning via Bootstrapping Error Reduction
- Whole-body motion and landing force control for quadrupedal stair climbing
2018
- Contact Model Fusion for Event-Based Locomotion in Unstructured Terrains
- Dynamic locomotion in the MIT Cheetah 3 through convex model-predictive control
- Gait and Trajectory Optimization for Legged Systems Through Phase-Based End-Effector Parameterization
- Learning to Walk via Deep Reinforcement Learning
- MIT Cheetah 3: Design and Control of a Robust, Dynamic Quadruped Robot
- Mode-adaptive neural networks for quadruped motion control
- Per-Contact Iteration Method for Solving Contact Dynamics
- Policy Transfer with Strategy Optimization
- Robust Rough-Terrain Locomotion with a Quadrupedal Robot
- Scalability Analysis of Legged Robots for Space Exploration
- Sim-to-Real: Learning Agile Locomotion For Quadruped Robots
~ 2017
- ANYmal - a highly mobile and dynamic quadrupedal robot
- Design of HyQ – a hydraulically and electrically actuated quadruped robot
- High-slope terrain locomotion for torque-controlled quadruped robots
- Meta Learning Shared Hierarchies
- Robot-Centric Elevation Mapping with Uncertainty Estimates
- Slip Detection and Recovery for Quadruped Robots
- State Estimation for Legged Robots - Consistent Fusion of Leg Kinematics and IMU
- Survey of Numerical Methods for Trajectory Optimization
- Terrain-adaptive locomotion skills using deep reinforcement learning
- Tumble stability criterion of integrated locomotion and manipulation
- Wholebody trajectory optimization for non-periodic dynamic motions on quadrupedal systems
Github 💻
Repositories
Survey
Datasets & Benchmarks
Hardware
Models (URDF, MJCF, USD, etc.)
Simulation Platforms
Software frameworks
- Learning frameworks
- System identification frameworks
Locomotion Learning
- Locomotion Learning: Motion Immitation
- Locomotion Learning: Symmetry
- Loco-Manipulation Learning
- Wheel-legged Locomotion Learning
Kinematics
Dynamics
Control
MPC
State Estimator
Navigation
Teleoperation/Motion-Tracking
Youtube 🎥
Channels
- AI Robotics Seminar - University of Toronto
- ANYbotics
- Biomimetics MIT
- BIOROB
- Boston Dynamics
- CMU Robotic Exploration Lab
- cmurobotics
- Conference on Robot Learning
- DeepMind
- DeepRobotics
- Dynamic Robotics Laboratory - Oregon State University
- Erwin Coumans
- ETH Zürich
- Figure AI
- Ghost Robotics
- Hybrid Robotics
- IHMC Robotics
- KAIST Urban Robotics Lab
- magnecko
- MIT Robotics
- MPCRL 2021 - Recent advances in MPC and RL for legged robots
- Northwestern Robotics
- Oxford Dynamic Robot Systems Group
- PRO ROBOTS
- RaiLab Kaist
- RcLab
- Reinforcement Learning Zurich
- RISE LAB - SKKU
- Robomechanics Lab
- robot mania
- Robotics Innovatory
- Robotics Today
- Stoch Lab IISc
- The Robot Brains Podcast
- umrobotics
- Unitree Robotics
Lab 👥
Homepages
- Biomimetic Robotics Lab, MIT - Github
- BioRob (Biorobotics Laboratory), EPFL - Github
- Dynamic and Autonomous Robotic Systems (DARoS) Laboratory, University of Massachusetts Amherst - Github
- Dynamic Legged Systems Lab, Italian Institute of Technology (IIT) - Github
- Dynamic Robot Systems Group, University of Oxford - Github
- ETH Zürich - ETH Robotics Club
- Hybrid Robotics Lab, UC Berkely - Github
- LeCAR Lab, CMU - Github
- Lunar Lab, Georgia Tech - Github
- Neuro-Robotics Lab, Tohoku University
- RAI Lab, KAIST - Github
- RAI, Robotics and AI Institute
- RcLab, Kookmin University
- Robomechanics Lab, Carnegie Mellon University (CMU) - Github
- Robotics Innovatory, SungKyunKwan University
- Stanford Robotics Center
- StochLab (Stochastic Robotics Lab), Indian Institute of Science (IISc) - Github
- The Robotics Lab, IDSIA - Github
- TRAIL, Trustworthy Robotics and AI Lab
Related Materials
Bipedal(Legged) Robots (Extended)
Research 📑
Papers
- A Unified and General Humanoid Whole-Body Controller for Fine-Grained Locomotion
- Berkeley Humanoid: A Research Platform for Learning-based Control
- CusADi: A GPU Parallelization Framework for Symbolic Expressions and Optimal Control
- Deep Reinforcement Learning for Low-Cost Humanoid Robot Soccer Players: Dynamic Skills and Efficient Transfer
- Embrace Collisions: Humanoid Shadowing for Deployable Contact-Agnostics Motions
- FLD: Fourier Latent Dynamics for Structured Motion Representation and Learning
- Gait-Net-augmented Implicit Kino-dynamic MPC for Dynamic Variable-frequency Humanoid Locomotion over Discrete Terrains
- HiLo: Learning Whole-Body Human-like Locomotion with Motion Tracking Controller
- HuB: Learning Extreme Humanoid Balance
- HumanoidBench: Simulated Humanoid Benchmark for Whole-Body Locomotion and Manipulation
- HumanPlus: Humanoid Shadowing and Imitation from Humans
- Hybrid Stepping Motion Generation for Wheeled-Bipedal Robots Without Roll Joints on Legs
- Integrating Model-Based Footstep Planning with Model-Free Reinforcement Learning for Dynamic Legged Locomotion
- Learning Agile Soccer Skills for a Bipedal Robot with Deep Reinforcement Learning
- Learning Human-to-Humanoid Real-Time Whole-Body Teleoperation
- Learning Humanoid Locomotion with Perceptive Internal Model
- Learning hybrid locomotion skills—Learn to exploit residual actions and modulate model-based gait control
- Learning Robot Soccer from Egocentric Vision with Deep Reinforcement Learning
- Learning Skateboarding for Humanoid Robots through Massively Parallel Reinforcement Learning
- Learning to Walk and Fly with Adversarial Motion Priors
- Learning Vision-Based Bipedal Locomotion for Challenging Terrain
- Natural and Robust Walking using Reinforcement Learning without Demonstrations in High-Dimensional Musculoskeletal Models
- Opt2Skill: Imitating Dynamically-feasible Whole-Body Trajectories for Versatile Humanoid Loco-Manipulation
- Perceptive Mixed-Integer Footstep Control for Underactuated Bipedal Walking on Rough Terrain
- Phase-based Nonlinear Model Predictive Control for Humanoid Walking Stabilization with Single and Double Support Time Adjustments
- Real-Time Safe Bipedal Robot Navigation using Linear Discrete Control Barrier Functions
- Real-World Humanoid Locomotion with Reinforcement Learning
- TWIST: Teleoperated Whole-Body Imitation System
- Whole-body simulation of realistic fruit fly locomotion with deep reinforcement learning
Github Repositories 💻
Please also refer to Simulation platforms & Frameworks
Surveys
Platforms
Frameworks
Teleoperation/Motion-Tracking/Retargeting
Physically Simulated Humanoids
Training-free
Wheel-legged Biped Robots
Academic Labs 👥
List
- Biomimetic Robotics Lab, MIT - Github
- DFKI: German Research Center for Artificial Intelligence
- DRAIL: Dynamic Robotics and Artificial Intelligence Lab, Oregon State University - Github
- HCRL: Human Centered Robotics Lab, University of Texas at Austin - Github
- IHMC: Institute for Human and Machine Cognition, Florida University - Github
- IIT: Italian Institute of Technology - iCub - ergoCub
- JSK: Johou Systems Kougaku Lab, UTokyo
- K-Scale Labs- Github
- LeCAR: Learning and Control for Agile Robotics Lab, CMU - Github
- Lunar Lab, Georgia Tech - Github
- Mekion - Github
- Peking University
- PRIN: Principles of Robot Intelligence from Nature/Nurture Laboratory, NII
- Robot Learning Lab, NAIST
- Stanford Robotics Center
- University of California, Berkeley
- University of Pennsylvania
Companies 🏢
List
- 1X
- Agibot
- Agile Robots
- Agility Robotics
- Apptronik, spinout of HCRL
- Ascento
- Astribot
- Boardwalk Robotics
- Booster - Github
- Boston Dynamics
- Disney Research, BDX Droids
- EngineAI
- Engineered Arts
- Figure
- Fourier
- Fraunhofer IML: Institute for Material Flow and Logistics, evoBOT
- Galbot, G1-Embodied Multimodal Large Model Robot
- Hexagon, AEON
- KEENON
- LimX - Github
- NEURA Robotics
- NVIDIA GR00T
- PAL Robotics
- ROBOTERA, spinoff of Tsinghua University
- Sanctuary Cognitive Systems Corporation
- Tesla
- The Robot Studio
- Tokyo Robotics
- UBTECH Robotics
- Unitree Robotics
- XPENG
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README
Awesome_Quadrupedal_Robots
Don't hesitate to leave issues or discussions to me if there are any corrections or errors.
🔤 Except for repositories, which are categorized based on relevancy, the items below are in alphabetical order.
Good to start 🧐
- Boston Dynamics Spot Robot | All of its Engineering SECRETS!
- Development of quadruped walking robots: A review
- Quadruped Robot Basics
- Underactuated Robotics - Russ Tedrake - MIT
Quadrupedal Robot 🐅
Platforms
Papers 📑
It could include abroad keywords related to quadrupedal walking robots, e.g. control methods or reinforcement learning
2026
- AME-2: Agile and Generalized Legged Locomotion via Attention-Based Neural Map Encoding
- Attention-Based Neural-Augmented Kalman Filter for Legged Robot State Estimation
- AutoPath: Learning Transferable Goal-Conditioned Stochastic Path Prior for Safe Navigation Without Human Demonstrations
- Dual-Horizon Hybrid Internal Model for Low-Gravity Quadrupedal Jumping with Hardware-in-the-Loop Validation
- Energy Prediction on Sloping Ground for Quadruped Robots
- Feedback-MPPI: Fast Sampling-Based MPC via Rollout Differentiation -- Adios Low-Level Controllers
- Jumping Control for a Quadrupedal Wheeled-Legged Robot via NMPC and DE Optimization
- Learning Accurate and Robust Velocity Tracking for Quadrupedal Robots
- Learning Quadrupedal Locomotion for a Heavy Hydraulic Robot Using an Actuator Model
- Load-bearing Assessment for Safe Locomotion of Quadruped Robots on Collapsing Terrain
- MLM: Learning Multi-Task Loco-Manipulation Whole-Body Control for Quadruped Robot With Arm
- Primal-Dual iLQR for GPU-Accelerated Learning and Control in Legged Robots
- Proprioceptive Image: An Image Representation of Proprioceptive Data from Quadruped Robots for Contact Estimation Learning
- Reinforcement Learning for Robust Climbing Locomotion With Rope-Driven Legged Robot
- START: Traversing Sparse Footholds With Terrain Reconstruction
- Teaching Robots Like Dogs: Learning Agile Navigation from Luring, Gesture, and Speech
- WARL: Wrench-Augmented Reinforcement Learning for Task-Agnostic Learning in Legged Robots
2025
- Adaptive Non-linear Centroidal MPC with Stability Guarantees for Robust Locomotion of Legged Robots
- ADEPT: Adaptive Diffusion Environment for Policy Transfer Sim-to-Real
- Benchmarking Different QP Formulations and Solvers for Dynamic Quadrupedal Walking
- Bipedalism for Quadrupedal Robots: Versatile Loco-Manipulation through Risk-Adaptive Reinforcement Learning
- Bridging the Sim-to-Real Gap for Athletic Loco-Manipulation
- CAIMAN: Causal Action Influence Detection for Sample Efficient Loco-manipulation
- Disturbance-Aware Adaptive Compensation in Hybrid Force-Position Locomotion Policy for Legged Robots
- FACET: Force-Adaptive Control via Impedance Reference Tracking for Legged Robots
- Floating-Base Deep Lagrangian Networks
- Generating Diverse Challenging Terrains for Legged Robots Using Quality-Diversity Algorithm
- Learned Perceptive Forward Dynamics Model for Safe and Platform-aware Robotic Navigation
- Learning coordinated badminton skills for legged manipulators
- Learning Stable Bipedal Locomotion Skills for Quadrupedal Robots on Challenging Terrains with Automatic Fall Recovery
- Learning Steerable Imitation Controllers from Unstructured Animal Motions
- Learning Unified Force and Position Control for Legged Loco-Manipulation
- LEVA: A high-mobility logistic vehicle with legged suspension
- Load-bearing Assessment for Safe Locomotion of Quadruped Robots on Collapsing Terrain
- LocoTouch: Learning Dexterous Quadrupedal Transport with Tactile Sensing
- Long-horizon Locomotion and Manipulation on a Quadrupedal Robot with Large Language Models
- MoRE: Unlocking Scalability in Reinforcement Learning for Quadruped Vision-Language-Action Models
- MuJoCo Playground
- Multi-Quadruped Cooperative Object Transport: Learning Decentralized Pinch-Lift-Move
- NaVILA: Legged Robot Vision-Language-Action Model for Navigation
- NIL: No-data Imitation Learning by Leveraging Pre-trained Video Diffusion Models
- Obstacle-Avoidant Leader Following with a Quadruped Robot
- Omni-Perception: Omnidirectional Collision Avoidance for Legged Locomotion in Dynamic Environments
- Parkour in the Wild: Learning a General and Extensible Agile Locomotion Policy Using Multi-expert Distillation and RL Fine-tuning
- Physics-Based Motion Imitation with Adversarial Differential Discriminators
- Primal-Dual iLQR for GPU-Accelerated Learning and Control in Legged Robots
- QUART-Online: Latency-Free Large Multimodal Language Model for Quadruped Robot Learning
- RAMBO: RL-augmented Model-based Whole-body Control for Loco-manipulation
- Real-Time Out-of-Distribution Failure Prevention via Multi-Modal Reasoning
- Sampling-Based System Identification with Active Exploration for Legged Robot Sim2Real Learning
- Spatio-Temporal Motion Retargeting for Quadruped Robots
- TAR: Teacher-Aligned Representations via Contrastive Learning for Quadrupedal Locomotion
- Towards Quadrupedal Jumping and Walking for Dynamic Locomotion using Reinforcement Learning
- Unsupervised Skill Discovery as Exploration for Learning Agile Locomotion
- Variable Stiffness for Robust Locomotion through Reinforcement Learning
- Versatile Legged Locomotion Adaptation through Vision-Language Grounding
- Versatile Loco-Manipulation through Flexible Interlimb Coordination
- VR-Robo: A Real-to-Sim-to-Real Framework for Visual Robot Navigation and Locomotion
- Whole-Body End-Effector Pose Tracking
2024
- A Study of Lightweight, Low-cost Quadrupedal Robot Body Based on a Coaxial Deformation Mechanism
- Accelerating Model Predictive Control for Legged Robots through Distributed Optimization
- Accessorizing Quadrupedal Robots with Wearable Electronics
- Agile But Safe: Learning Collision-Free High-Speed Legged Locomotion
- Arm-Constrained Curriculum Learning for Loco-Manipulation of the Wheel-Legged Robot
- Body Transformer: Leveraging Robot Embodiment for Policy Learning
- Cafe-Mpc: A Cascaded-Fidelity Model Predictive Control Framework with Tuning-Free Whole-Body Control
- CaT: Constraints as Terminations for Legged Locomotion Reinforcement Learning
- Contrastive Initial State Buffer for Reinforcement Learning
- Convergent iLQR for Safe Trajectory Planning and Control of Legged Robots
- CROSS-GAiT: Cross-Attention-Based Multimodal Representation Fusion for Parametric Gait Adaptation in Complex Terrains
- Deep Compliant Control for Legged Robots
- DexDribbler: Learning Dexterous Soccer Manipulation via Dynamic Supervision
- DiffuseLoco: Real-Time Legged Locomotion Control with Diffusion from Offline Datasets
- DrEureka: Language Model Guided Sim-To-Real Transfer
- DTC: Deep Tracking Control
- Dynamic Fall Recovery Control for Legged Robots via Reinforcement Learning
- Enhancing Quadruped Robot Locomotion on Deformable Terrains Through Contact Perception and Terrain Classification
- Eurekaverse: Environment Curriculum Generation via Large Language Models
- Expert Composer Policy: Scalable Skill Repertoire for Quadruped Robots
- Fast Traversability Estimation for Wild Visual Navigation
- GeRM: A Generalist Robotic Model with Mixture-of-experts for Quadruped Robot
- Guided Reinforcement Learning for Robust Multi-Contact Loco-Manipulation
- H2- and H∞-Optimal Model Predictive Controllers for Robust Legged Locomotion
- Hierarchical Open-Vocabulary 3D Scene Graphs for Language-Grounded Robot Navigation
- Hybrid Internal Model: Learning Agile Legged Locomotion with Simulated Robot Response
- Identifying Terrain Physical Parameters from Vision - Towards Physical-Parameter-Aware Locomotion and Navigation
- Jumping Locomotion of Quadruped Robot During Running Based on Multiple Model Fusion
- Learning Advanced Locomotion for Quadrupedal Robots: A Distributed Multi-Agent Reinforcement Learning Framework with Riemannian Motion Policies
- Learning Bipedal Walking on a Quadruped Robot via Adversarial Motion Priors
- Learning Force Control for Legged Manipulation
- Learning Quadruped Locomotion using Differentiable Simulation
- Learning Quadrupedal High-Speed Running on Uneven Terrain
- Learning Risk-Aware Quadrupedal Locomotion using Distributional Reinforcement Learning
- Learning robust autonomous navigation and locomotion for wheeled-legged robots
- Learning to walk in confined spaces using 3D representation
- Learning Visual Quadrupedal Loco-Manipulation from Demonstrations
- Learning-based legged locomotion; state of the art and future perspectives
- Learning-Based Locomotion Controllers for Quadruped Robots in Indoor Stair Climbing via Deep Reinforcement Learning
- Legged Robot State Estimation With Invariant Extended Kalman Filter Using Neural Measurement Network
- LiteVLoc: Map-Lite Visual Localization for Image Goal Navigation
- LoopSR: Looping Sim-and-Real for Lifelong Policy Adaptation of Legged Robots
- ManyQuadrupeds: Learning a Single Locomotion Policy for Diverse Quadruped Robots
- MEVIUS: A Quadruped Robot Easily Constructed through E-Commerce with Sheet Metal Welding and Machining
- Morphological Symmetries in Robotics
- MQE: Unleashing the Power of Interaction with Multi-agent Quadruped Environment
- Non-Gaited Legged Locomotion with Monte-Carlo Tree Search and Supervised Learning
- Obstacle-Aware Quadrupedal Locomotion With Resilient Multi-Modal Reinforcement Learning
- Offline Adaptation of Quadruped Locomotion using Diffusion Models
- Offline Diversity Maximization Under Imitation Constraints
- One Policy to Run Them All: an End-to-end Learning Approach to Multi-Embodiment Locomotion
- Online Hierarchical Planning for Multicontact Locomotion Control of Quadruped Robots
- OptiState: State Estimation of Legged Robots using Gated Networks with Transformer-based Vision and Kalman Filtering
- Oscillating latent dynamics in robot systems during walking and reaching
- Pedipulate: Enabling Manipulation Skills using a Quadruped Robot's Leg
- Pegasus: a Novel Bio-inspired Quadruped Robot with Underactuated Wheeled-Legged Mechanism *
- PIE: Parkour With Implicit-Explicit Learning Framework for Legged Robots
- ProNav: Proprioceptive Traversability Estimation for Legged Robot Navigation in Outdoor Environments
- Reduced Model Predictive Control Toward Highly Dynamic Quadruped Locomotion
- Reinforcement Learning For Quadrupedal Locomotion: Current Advancements And Future Perspectives
- Residual Policy Learning for Perceptive Quadruped Control Using Differentiable Simulation
- Rethinking Robustness Assessment: Adversarial Attacks on Learning-based Quadrupedal Locomotion Controllers
- RL2AC: Reinforcement Learning-based Rapid Online Adaptive Control for Legged Robot Robust Locomotion
- Robots with Attitude: Singularity-Free Quaternion-Based Model-Predictive Control for Agile Legged Robots
- Robust Ladder Climbing with a Quadrupedal Robot
- Sim-to-Real: A Performance Comparison of PPO, TD3, and SAC Reinforcement Learning Algorithms for Quadruped Walking Gait Generation
- Similar but Different: A Survey of Ground Segmentation and Traversability Estimation for Terrestrial Robots
- Simulation of autonomous rhythm and gait generation in quadrupedal locomotion with hindlegs
- Skill Latent Space Based Multigait Learning for a Legged Robot
- Slip Detection and Recovery for Quadruped Robots via Orthogonal Decomposition
- SLR: Learning Quadruped Locomotion without Privileged Information
- SoloParkour: Constrained Reinforcement Learning for Visual Locomotion from Privileged Experience
- Spatio-Temporal Motion Retargeting for Quadruped Robots
- SYNLOCO‐VE: Synthesizing central pattern generator with reinforcement learning and velocity estimator for quadruped locomotion
- Track2Act: Predicting Point Tracks from Internet Videos enables Diverse Zero-shot Robot Manipulation
- UMI on Legs: Making Manipulation Policies Mobile with Manipulation-Centric Whole-body Controllers
- Understanding URDF: A Dataset and Analysis
- Viability leads to the emergence of gait transitions in learning agile quadrupedal locomotion on challenging terrains
- ViPlanner: Visual Semantic Imperative Learning for Local Navigation
- Visual Whole-Body Control for Legged Loco-Manipulation
- VLFM: Vision-Language Frontier Maps for Zero-Shot Semantic Navigation
2023
- Adaptive Control Strategy for Quadruped Robots in Actuator Degradation Scenarios
- Adaptive Locomotion Learning for Quadruped Robots by Combining DRL with a Cosine Oscillator Based Rhythm Controller
- Adaptive walking control for quadruped robot by using oscillation patterns
- AMP in the wild: Learning robust, agile, natural legged locomotion skills
- ANYmal Parkour: Learning Agile Navigation for Quadrupedal Robots
- ARMP: Autoregressive Motion Planning for Quadruped Locomotion and Navigation in Complex Indoor Environments
- ArtPlanner: Robust Legged Robot Navigation in the Field
- ASC: Adaptive Skill Coordination for Robotic Mobile Manipulation
- Autonomous Stair Ascending and Descending by Quadruped Wheelchairs
- Barkour: Benchmarking Animal-level Agility with Quadruped Robots
- Barry: A High-Payload and Agile Quadruped Robot
- Combining model-predictive control and predictive reinforcement learning for stable quadrupedal robot locomotion
- Controlling the Solo12 quadruped robot with deep reinforcement learning
- Curiosity-Driven Learning of Joint Locomotion and Manipulation Tasks
- DeepTransition: Viability Leads to the Emergence of Gait Transitions in Learning Anticipatory Quadrupedal Locomotion Skills
- DOC: Differentiable Optimal Control for Retargeting Motions onto Legged Robots
- Dojo: A Differentiable Physics Engine for Robotics
- DreamWaQ: Learning Robust Quadrupedal Locomotion With Implicit Terrain Imagination via Deep Reinforcement Learning
- DribbleBot: Dynamic Legged Manipulation in the Wild
- Drilling Task with a Quadruped Robot for Silage Face Measurements
- DTC: Deep Tracking Control - A Unifying Approach to Model-Based Planning and Reinforcement-Learning for Versatile and Robust Locomotion
- Evaluation of Constrained Reinforcement Learning Algorithms for Legged Locomotion
- Event Camera-based Visual Odometry for Dynamic Motion Tracking of a Legged Robot Using Adaptive Time Surface
- Event-based Agile Object Catching with a Quadrupedal Robot
- Expanding Versatility of Agile Locomotion through Policy Transitions Using Latent State Representation
- Extreme Parkour with Legged Robots
- Fast Traversability Estimation for Wild Visual Navigation
- From Data-Fitting to Discovery: Interpreting the Neural Dynamics of Motor Control through Reinforcement Learning
- Geometric Mechanics of Contact-Switching Systems
- Grow Your Limits: Continuous Improvement with Real-World RL for Robotic Locomotion
- Guardians as You Fall: Active Mode Transition for Safe Falling
- Hierarchical Experience-informed Navigation for Multi-modal Quadrupedal Rebar Grid Traversal
- Identifying important sensory feedback for learning locomotion skills
- Intelligent Control of Multilegged Robot Smooth Motion: A Review
- iPlanner: Imperative Path Planning
- Language to Rewards for Robotic Skill Synthesis
- Layered Control for Cooperative Locomotion of Two Quadrupedal Robots: Centralized and Distributed Approaches
- Learning a Single Policy for Diverse Behaviors on a Quadrupedal Robot using Scalable Motion Imitation
- Learning Agility and Adaptive Legged Locomotion via Curricular Hindsight Reinforcement Learning
- Learning and Adapting Agile Locomotion Skills by Transferring Experience
- Learning Arm-Assisted Fall Damage Reduction and Recovery for Legged Mobile Manipulators
- Learning Complex Motor Skills for Legged Robot Fall Recovery
- Learning Impulse-Reduced Gait for Quadruped Robot using CMA-ES
- Learning Low-Frequency Motion Control for Robust and Dynamic Robot Locomotion
- Learning Multiple Gaits within Latent Space for Quadruped Robots
- Learning Quadruped Locomotion using Bio-Inspired Neural Networks with Intrinsic Rhythmicity
- Learning quadrupedal locomotion on deformable terrain
- Learning Robust and Agile Legged Locomotion Using Adversarial Motion Priors
- Learning Robust Perception-Based Controller for Quadruped Robot
- Learning to Exploit Elastic Actuators for Quadruped Locomotion
- Learning to Walk by Steering: Perceptive Quadrupedal Locomotion in Dynamic Environments
- Learning Whole-body Manipulation for Quadrupedal Robot
- Legs as Manipulator: Pushing Quadrupedal Agility Beyond Locomotion
- Lifelike Agility and Play on Quadrupedal Robots using Reinforcement Learning and Generative Pre-trained Models
- LSC: Language-guided Skill Coordination
- LSTP: Long Short-Term Motion Planning for Legged and Legged-Wheeled Systems
- Mastering Diverse Domains through World Models
- Max: A Wheeled-Legged Quadruped Robot for Multimodal Agile Locomotion
- Multi-Contact Whole Body Force Control for Position-Controlled Robots
- Not Only Rewards But Also Constraints: Applications on Legged Robot Locomotion
- OPT-Mimic: Imitation of Optimized Trajectories for Dynamic Quadruped Behaviors
- ORBIT: A Unified Simulation Framework for Interactive Robot Learning Environments
- Orthrus: A Dual-arm Quadrupedal Robot for Mobile Manipulation and Entertainment Applications
- Perceptive Locomotion Through Nonlinear Model-Predictive Control
- Puppeteer and Marionette: Learning Anticipatory Quadrupedal Locomotion Based on Interactions of a Central Pattern Generator and Supraspinal Drive
- PyPose: A Library for Robot Learning with Physics-based Optimization
- QUAR-VLA: Vision-Language-Action Model for Quadruped Robots
- Real-Time Collision-Free Motion Planning and Control for Mobile Manipulation with Quadrupeds
- Reinforcement Learning for Legged Robots: Motion Imitation from Model-Based Optimal Control
- Reinforcement Learning from Multiple Sensors via Joint Representations
- Resilient Legged Local Navigation: Learning to Traverse with Compromised Perception End-to-End
- Responsive CPG-Based Locomotion Control for Quadruped Robots
- RL + Model-based Control: Using On-demand Optimal Control to Learn Versatile Legged Locomotion
- RoboHive: A Unified Framework for Robot Learning
- Robot Parkour Learning
- Robust Quadrupedal Locomotion via Risk-Averse Policy Learning
- Robust Recovery Motion Control for Quadrupedal Robots via Learned Terrain Imagination
- Roll-Drop: accounting for observation noise with a single parameter
- SafeSteps: Learning Safer Footstep Planning Policies for Legged Robots via Model-Based Priors
- SayTap: Language to Quadrupedal Locomotion
- Scientific Exploration of Challenging Planetary Analog Environments with a Team of Legged Robots
- Skill Graph for Real-world Quadrupedal Robot Reinforcement Learning
- SLoMo: A General System for Legged Robot Motion Imitation From Casual Videos
- Solving Challenging Control Problems via Learning-based Motion Planning and Imitation
- SYNLOCO: Synthesizing Central Pattern Generator and Reinforcement Learning for Quadruped Locomotion
- Taking the First Step Toward Autonomous Quadruped Robots: The Quadruped Robot Challenge at ICRA 2023 in London [Competitions]
- Terrain-Aware Quadrupedal Locomotion via Reinforcement Learning
- Towards Legged Locomotion on Steep Planetary Terrain
- Tuning Legged Locomotion Controllers via Safe Bayesian Optimization
- Versatile Multi-Contact Planning and Control for Legged Loco-Manipulation
2022
- A Collision-Free MPC for Whole-Body Dynamic Locomotion and Manipulation
- A Linearization of Centroidal Dynamics for the Model-Predictive Control of Quadruped Robots
- A Reconfigurable Leg for Walking Robots
- A Walk in the Park: Learning to Walk in 20 Minutes With Model-Free Reinforcement Learning
- A Whole-Body Controller Based on a Simplified Template for Rendering Impedances in Quadruped Manipulators
- A1 SLAM: Quadruped SLAM using the A1's Onboard Sensors
- Accelerated Policy Learning with Parallel Differentiable Simulation
- Accessibility-Based Clustering for Efficient Learning of Locomotion Skills
- Advanced Skills by Learning Locomotion and Local Navigation End-to-End
- Advanced Skills through Multiple Adversarial Motion Priors in Reinforcement Learning
- Agile and versatile climbing on ferromagnetic surfaces with a quadrupedal robot
- Animal Motions on Legged Robots Using Nonlinear Model Predictive Control
- Articulated Object Interaction in Unknown Scenes with Whole-Body Mobile Manipulation
- Bio-Inspired Rhythmic Locomotion for Quadruped Robots
- Central pattern generators evolved for real-time adaptation
- Cerberus: Low-Drift Visual-Inertial-Leg Odometry For Agile Locomotion
- Collision-Backpropagation based Obstacle Avoidance Method for a Legged Robot Expressed as a Simplified Dynamics Model
- Combining Learning-Based Locomotion Policy With Model-Based Manipulation for Legged Mobile Manipulators
- Concurrent Training of a Control Policy and a State Estimator for Dynamic and Robust Legged Locomotion
- Control of Wheeled-Legged Quadrupeds Using Deep Reinforcement Learning
- Coupling Vision and Proprioception for Navigation of Legged Robots
- CPG-RL: Learning Central Pattern Generators for Quadruped Locomotion
- Creating a Dynamic Quadrupedal Robotic Goalkeeper with Reinforcement Learning
- DayDreamer: World Models for Physical Robot Learning
- Deep Hierarchical Planning from Pixels
- Deep reinforcement learning for real-world quadrupedal locomotion: a comprehensive review
- Deep Whole-Body Control: Learning a Unified Policy for Manipulation and Locomotion
- DeepPhase: periodic autoencoders for learning motion phase manifolds
- DMAP: a Distributed Morphological Attention Policy for Learning to Locomote with a Changing Body
- Elevation Mapping for Locomotion and Navigation using GPU
- Factor Graph Fusion of Raw GNSS Sensing with IMU and Lidar for Precise Robot Localization without a Base Station
- GenLoco: Generalized Locomotion Controllers for Quadrupedal Robots
- Hierarchical Adaptive Loco-manipulation Control for Quadruped Robots
- Hierarchical Decentralized Deep Reinforcement Learning Architecture for a Simulated Four-Legged Agent
- Hierarchical Reinforcement Learning for Precise Soccer Shooting Skills using a Quadrupedal Robot
- High-speed quadrupedal locomotion by imitation-relaxation reinforcement learning
- Human Motion Control of Quadrupedal Robots using Deep Reinforcement Learning
- Imitate and Repurpose: Learning Reusable Robot Movement Skills From Human and Animal Behaviors
- Is Conditional Generative Modeling all you need for Decision-Making?
- Just Round: Quantized Observation Spaces Enable Memory Efficient Learning of Dynamic Locomotion
- Landing control method of a lightweight four-legged landing and walking robot
- Layered Control for Cooperative Locomotion of Two Quadrupedal Robots: Centralized and Distributed Approaches
- Learning a Unified Policy for Whole-Body Control of Manipulation and Locomotion
- Learning Agile Skills via Adversarial Imitation of Rough Partial Demonstrations
- Learning and Deploying Robust Locomotion Policies with Minimal Dynamics Randomization
- Learning Footstep Planning for the Quadrupedal Locomotion with Model Predictive Control
- Learning Forward Dynamics Model and Informed Trajectory Sampler for Safe Quadruped Navigation
- Learning Free Gait Transition for Quadruped Robots via Phase-Guided Controller
- Learning Low-Frequency Motion Control for Robust and Dynamic Robot Locomotion
- Learning Modular Robot Visual-motor Locomotion Policies
- Learning plastic matching of robot dynamics in closed-loop central pattern generators
- Learning robust perceptive locomotion for quadrupedal robots in the wild
- Learning Torque Control for Quadrupedal Locomotion
- Learning Visual Locomotion with Cross-Modal Supervision
- Legged Locomotion in Challenging Terrains using Egocentric Vision
- Locomotion Policy Guided Traversability Learning using Volumetric Representations of Complex Environments
- Meta Reinforcement Learning for Optimal Design of Legged Robots
- Model Predictive Control of Quadruped Robot Based on Reinforcement Learning
- Monte Carlo Tree Search Gait Planner for Non-Gaited Legged System Control
- Multi-Modal Legged Locomotion Framework With Automated Residual Reinforcement Learning
- Neural Scene Representation for Locomotion on Structured Terrain
- Next Steps: Learning a Disentangled Gait Representation for Versatile Quadruped Locomotion
- Nonlinear Model Predictive Control for Quadrupedal Locomotion Using Second-Order Sensitivity Analysis
- Online Kinematic Calibration for Legged Robots
- Perceptive Locomotion through Nonlinear Model Predictive Control
- PI-ARS: Accelerating Evolution-Learned Visual-Locomotion with Predictive Information Representations
- PrePARE: Predictive Proprioception for Agile Failure Event Detection in Robotic Exploration of Extreme Terrains
- PSTO: Learning Energy-Efficient Locomotion for Quadruped Robots
- Quadruped Reinforcement Learning without Explicit State Estimation
- Rapid and Reliable Quadruped Motion Planning with Omnidirectional Jumping
- Rapid Locomotion via Reinforcement Learning
- Real-time Digital Double Framework to Predict Collapsible Terrains for Legged Robots
- REvolveR: Continuous Evolutionary Models for Robot-to-robot Policy Transfer
- RLOC: Terrain-Aware Legged Locomotion using Reinforcement Learning and Optimal Control
- RoLoMa: Robust Loco-Manipulation for Quadruped Robots with Arms
- Safe Reinforcement Learning for Legged Locomotion
- Sample Efficient Dynamics Learning for Symmetrical Legged Robots:Leveraging Physics Invariance and Geometric Symmetries
- Saving the Limping: Fault-tolerant Quadruped Locomotion via Reinforcement Learning
- State Estimation for Hybrid Locomotion of Driving-Stepping Quadrupeds
- STEP: State Estimator for Legged Robots Using a Preintegrated foot Velocity Factor
- TROT-Q: Traversability and Obstacle Aware Target Tracking System for Quadruped Robots
- Unsupervised Learning of Terrain Representations for Haptic Monte Carlo Localization
- VAE-Loco: Versatile Quadruped Locomotion by Learning a Disentangled Gait Representation
- Versatile Real-Time Motion Synthesis via Kino-Dynamic MPC with Hybrid-Systems DDP
- Versatile Skill Control via Self-supervised Adversarial Imitation of Unlabeled Mixed Motions
- ViNL: Visual Navigation and Locomotion Over Obstacles
- ViTAL: Vision-Based Terrain-Aware Locomotion for Legged Robots
- Walk These Ways: Gait-conditioned Policies Yield Diversified Quadrupedal Agility
- Walking in Narrow Spaces: Safety-critical Locomotion Control for Quadrupedal Robots with Duality-based Optimization
2021
- A Review of Physics Simulators for Robotic Applications
- A Unified MPC Framework for Whole-Body Dynamic Locomotion and Manipulation
- Adaptive CLF-MPC With Application to Quadrupedal Robots
- Adaptive Force-based Control for Legged Robots
- Animal Gaits on Quadrupedal Robots Using Motion Matching and Model-Based Control
- Cat-Like Jumping and Landing of Legged Robots in Low Gravity Using Deep Reinforcement Learning
- Circus ANYmal: A Quadruped Learning Dexterous Manipulation with Its Limbs
- CPG-ACTOR: Reinforcement Learning for Central Pattern Generators
- CPG-Based Hierarchical Locomotion Control for Modular Quadrupedal Robots Using Deep Reinforcement Learning
- Development of a Quadruped Robot System With Torque-Controllable Modular Actuator Unit
- Dynamics Randomization Revisited:A Case Study for Quadrupedal Locomotion
- Efficient Motion Planning Based on Kinodynamic Model for Quadruped Robots Following Persons in Confined Spaces
- Fast and Efficient Locomotion via Learned Gait Transitions
- GLiDE: Generalizable Quadrupedal Locomotion in Diverse Environments with a Centroidal Model
- Imitation Learning by Reinforcement Learning
- Imitation Learning from MPC for Quadrupedal Multi-Gait Control
- Jumping over obstacles with MIT Cheetah 2
- Learning Agile Locomotion Skills with a Mentor
- Learning Fast Adaptation with Meta Strategy Optimization
- Learning multiple gaits of quadruped robot using hierarchical reinforcement learning
- Learning to Jump from Pixels
- Learning to Navigate Sidewalks in Outdoor Environments
- Learning to Walk in Minutes Using Massively Parallel Deep Reinforcement Learning
- Learning Vision-Guided Quadrupedal Locomotion End-to-End with Cross-Modal Transformers
- Legged Robots that Keep on Learning: Fine-Tuning Locomotion Policies in the Real World
- Minimizing Energy Consumption Leads to the Emergence of Gaits in Legged Robots
- Obstacle Overcoming Gait Design for Quadruped Robot with Vision and Tactile Sensing Feedback
- Perceptive Autonomous Stair Climbing for Quadrupedal Robots
- Real-time Optimal Navigation Planning Using Learned Motion Costs
- Reinforcement Learning for Collaborative Quadrupedal Manipulation of a Payload over Challenging Terrain
- Reinforcement Learning with Evolutionary Trajectory Generator: A General Approach for Quadrupedal Locomotion
- Representation-Free Model Predictive Control for Dynamic Motions in Quadrupeds
- RMA: Rapid Motor Adaptation for Legged Robots
- Robust High-speed Running for Quadruped Robots via Deep Reinforcement Learning
- Search-based Kinodynamic Motion Planning for Omnidirectional Quadruped Robots
- Simulation-Based Climbing Capability Analysis for Quadrupedal Robots
- Traversing Steep and Granular Martian Analog Slopes With a Dynamic Quadrupedal Robot
- VILENS: Visual, Inertial, Lidar, and Leg Odometry for All-Terrain Legged Robots
- VILENS: Visual, Inertial, Lidar, and Leg Odometryfor All-Terrain Legged Robots
- Vision-based Terrain Perception of Quadruped Robots in Complex Environments
- Visual-Locomotion: Learning to Walk on Complex Terrains with Vision
2020
- An Open Torque-Controlled Modular Robot Architecture for Legged Locomotion Research
- Dream to Control: Learning Behaviors by Latent Imagination
- Dynamic equilibrium of climbing robots based on stability polyhedron for gravito-inertial acceleration
- Dynamics-Aware Unsupervised Discovery of Skills
- Emergent Real-World Robotic Skills via Unsupervised Off-Policy Reinforcement Learning
- First Steps: Latent-Space Control with Semantic Constraints for Quadruped Locomotion
- Guided Constrained Policy Optimization for Dynamic Quadrupedal Robot Locomotion
- Learning Agile Robotic Locomotion Skills by Imitating Animals
- Learning quadrupedal locomotion over challenging terrain
- Learning to Walk in the Real World with Minimal Human Effort
- Models, Pixels, and Rewards: Evaluating Design Trade-offs in Visual Model-Based Reinforcement Learning
- Mpc-based controller with terrain insight for dynamic legged locomotion
- Multi-expert learning of adaptive legged locomotion
- One Policy to Control Them All: Shared Modular Policies for Agent-Agnostic Control
- Path Planning With Local Motion Estimations
- Perceptive Locomotion in Rough Terrain – Online Foothold Optimization
- Plane-based stairway mapping for legged robot locomotion
- Pronto: A Multi-Sensor State Estimator for Legged Robots in Real-World Scenarios
- Rapidly Adaptable Legged Robots via Evolutionary Meta-Learning
- Reinforcement learning for quadrupedal locomotion with design of continual–hierarchical curriculum
- Rolling in the Deep - Hybrid Locomotion for Wheeled-Legged Robots using Online Trajectory Optimization
- Vision Aided Dynamic Exploration of Unstructured Terrain with a Small-Scale Quadruped Robot
2019
- DeepGait: Planning and Control of Quadrupedal Gaits using Deep Reinforcement Learning
- Design a Fall Recovery Strategy for a Wheel-Legged Quadruped Robot Using Stability Feature Space
- Dynamic Locomotion on Slippery Ground
- Fast and Continuous Foothold Adaptation for Dynamic Locomotion through CNNs
- Feedback MPC for Torque-Controlled Legged Robots
- Hierarchical Reinforcement Learning for Quadruped Locomotion
- Highly Dynamic Quadruped Locomotion via Whole-Body Impulse Control and Model Predictive Control
- Learning a Faster Locomotion Gait for a Quadruped Robot with Model-Free Deep Reinforcement Learning
- Learning agile and dynamic motor skills for legged robots
- Model Predictive Control for Motion Planning of Quadrupedal Locomotion
- Policies Modulating Trajectory Generators
- Robust Legged Robot State Estimation Using Factor Graph Optimization
- SpaceBok: A Dynamic Legged Robot for Space Exploration
- Stabilizing Off-Policy Q-Learning via Bootstrapping Error Reduction
- Whole-body motion and landing force control for quadrupedal stair climbing
2018
- Contact Model Fusion for Event-Based Locomotion in Unstructured Terrains
- Dynamic locomotion in the MIT Cheetah 3 through convex model-predictive control
- Gait and Trajectory Optimization for Legged Systems Through Phase-Based End-Effector Parameterization
- Learning to Walk via Deep Reinforcement Learning
- MIT Cheetah 3: Design and Control of a Robust, Dynamic Quadruped Robot
- Mode-adaptive neural networks for quadruped motion control
- Per-Contact Iteration Method for Solving Contact Dynamics
- Policy Transfer with Strategy Optimization
- Robust Rough-Terrain Locomotion with a Quadrupedal Robot
- Scalability Analysis of Legged Robots for Space Exploration
- Sim-to-Real: Learning Agile Locomotion For Quadruped Robots
~ 2017
- ANYmal - a highly mobile and dynamic quadrupedal robot
- Design of HyQ – a hydraulically and electrically actuated quadruped robot
- High-slope terrain locomotion for torque-controlled quadruped robots
- Meta Learning Shared Hierarchies
- Robot-Centric Elevation Mapping with Uncertainty Estimates
- Slip Detection and Recovery for Quadruped Robots
- State Estimation for Legged Robots - Consistent Fusion of Leg Kinematics and IMU
- Survey of Numerical Methods for Trajectory Optimization
- Terrain-adaptive locomotion skills using deep reinforcement learning
- Tumble stability criterion of integrated locomotion and manipulation
- Wholebody trajectory optimization for non-periodic dynamic motions on quadrupedal systems
Github 💻
Repositories
Survey
Datasets & Benchmarks
Hardware
Models (URDF, MJCF, USD, etc.)
Simulation Platforms
Software frameworks
- Learning frameworks
- System identification frameworks
Locomotion Learning
- Locomotion Learning: Motion Immitation
- Locomotion Learning: Symmetry
- Loco-Manipulation Learning
- Wheel-legged Locomotion Learning
Kinematics
Dynamics
Control
MPC
State Estimator
Navigation
Teleoperation/Motion-Tracking
Youtube 🎥
Channels
- AI Robotics Seminar - University of Toronto
- ANYbotics
- Biomimetics MIT
- BIOROB
- Boston Dynamics
- CMU Robotic Exploration Lab
- cmurobotics
- Conference on Robot Learning
- DeepMind
- DeepRobotics
- Dynamic Robotics Laboratory - Oregon State University
- Erwin Coumans
- ETH Zürich
- Figure AI
- Ghost Robotics
- Hybrid Robotics
- IHMC Robotics
- KAIST Urban Robotics Lab
- magnecko
- MIT Robotics
- MPCRL 2021 - Recent advances in MPC and RL for legged robots
- Northwestern Robotics
- Oxford Dynamic Robot Systems Group
- PRO ROBOTS
- RaiLab Kaist
- RcLab
- Reinforcement Learning Zurich
- RISE LAB - SKKU
- Robomechanics Lab
- robot mania
- Robotics Innovatory
- Robotics Today
- Stoch Lab IISc
- The Robot Brains Podcast
- umrobotics
- Unitree Robotics
Lab 👥
Homepages
- Biomimetic Robotics Lab, MIT - Github
- BioRob (Biorobotics Laboratory), EPFL - Github
- Dynamic and Autonomous Robotic Systems (DARoS) Laboratory, University of Massachusetts Amherst - Github
- Dynamic Legged Systems Lab, Italian Institute of Technology (IIT) - Github
- Dynamic Robot Systems Group, University of Oxford - Github
- ETH Zürich - ETH Robotics Club
- Hybrid Robotics Lab, UC Berkely - Github
- LeCAR Lab, CMU - Github
- Lunar Lab, Georgia Tech - Github
- Neuro-Robotics Lab, Tohoku University
- RAI Lab, KAIST - Github
- RAI, Robotics and AI Institute
- RcLab, Kookmin University
- Robomechanics Lab, Carnegie Mellon University (CMU) - Github
- Robotics Innovatory, SungKyunKwan University
- Stanford Robotics Center
- StochLab (Stochastic Robotics Lab), Indian Institute of Science (IISc) - Github
- The Robotics Lab, IDSIA - Github
- TRAIL, Trustworthy Robotics and AI Lab
Related Materials
Bipedal(Legged) Robots (Extended)
Research 📑
Papers
- A Unified and General Humanoid Whole-Body Controller for Fine-Grained Locomotion
- Berkeley Humanoid: A Research Platform for Learning-based Control
- CusADi: A GPU Parallelization Framework for Symbolic Expressions and Optimal Control
- Deep Reinforcement Learning for Low-Cost Humanoid Robot Soccer Players: Dynamic Skills and Efficient Transfer
- Embrace Collisions: Humanoid Shadowing for Deployable Contact-Agnostics Motions
- FLD: Fourier Latent Dynamics for Structured Motion Representation and Learning
- Gait-Net-augmented Implicit Kino-dynamic MPC for Dynamic Variable-frequency Humanoid Locomotion over Discrete Terrains
- HiLo: Learning Whole-Body Human-like Locomotion with Motion Tracking Controller
- HuB: Learning Extreme Humanoid Balance
- HumanoidBench: Simulated Humanoid Benchmark for Whole-Body Locomotion and Manipulation
- HumanPlus: Humanoid Shadowing and Imitation from Humans
- Hybrid Stepping Motion Generation for Wheeled-Bipedal Robots Without Roll Joints on Legs
- Integrating Model-Based Footstep Planning with Model-Free Reinforcement Learning for Dynamic Legged Locomotion
- Learning Agile Soccer Skills for a Bipedal Robot with Deep Reinforcement Learning
- Learning Human-to-Humanoid Real-Time Whole-Body Teleoperation
- Learning Humanoid Locomotion with Perceptive Internal Model
- Learning hybrid locomotion skills—Learn to exploit residual actions and modulate model-based gait control
- Learning Robot Soccer from Egocentric Vision with Deep Reinforcement Learning
- Learning Skateboarding for Humanoid Robots through Massively Parallel Reinforcement Learning
- Learning to Walk and Fly with Adversarial Motion Priors
- Learning Vision-Based Bipedal Locomotion for Challenging Terrain
- Natural and Robust Walking using Reinforcement Learning without Demonstrations in High-Dimensional Musculoskeletal Models
- Opt2Skill: Imitating Dynamically-feasible Whole-Body Trajectories for Versatile Humanoid Loco-Manipulation
- Perceptive Mixed-Integer Footstep Control for Underactuated Bipedal Walking on Rough Terrain
- Phase-based Nonlinear Model Predictive Control for Humanoid Walking Stabilization with Single and Double Support Time Adjustments
- Real-Time Safe Bipedal Robot Navigation using Linear Discrete Control Barrier Functions
- Real-World Humanoid Locomotion with Reinforcement Learning
- TWIST: Teleoperated Whole-Body Imitation System
- Whole-body simulation of realistic fruit fly locomotion with deep reinforcement learning
Github Repositories 💻
Please also refer to Simulation platforms & Frameworks
Surveys
Platforms
Frameworks
Teleoperation/Motion-Tracking/Retargeting
Physically Simulated Humanoids
Training-free
Wheel-legged Biped Robots
Academic Labs 👥
List
- Biomimetic Robotics Lab, MIT - Github
- DFKI: German Research Center for Artificial Intelligence
- DRAIL: Dynamic Robotics and Artificial Intelligence Lab, Oregon State University - Github
- HCRL: Human Centered Robotics Lab, University of Texas at Austin - Github
- IHMC: Institute for Human and Machine Cognition, Florida University - Github
- IIT: Italian Institute of Technology - iCub - ergoCub
- JSK: Johou Systems Kougaku Lab, UTokyo
- K-Scale Labs- Github
- LeCAR: Learning and Control for Agile Robotics Lab, CMU - Github
- Lunar Lab, Georgia Tech - Github
- Mekion - Github
- Peking University
- PRIN: Principles of Robot Intelligence from Nature/Nurture Laboratory, NII
- Robot Learning Lab, NAIST
- Stanford Robotics Center
- University of California, Berkeley
- University of Pennsylvania
Companies 🏢
List
- 1X
- Agibot
- Agile Robots
- Agility Robotics
- Apptronik, spinout of HCRL
- Ascento
- Astribot
- Boardwalk Robotics
- Booster - Github
- Boston Dynamics
- Disney Research, BDX Droids
- EngineAI
- Engineered Arts
- Figure
- Fourier
- Fraunhofer IML: Institute for Material Flow and Logistics, evoBOT
- Galbot, G1-Embodied Multimodal Large Model Robot
- Hexagon, AEON
- KEENON
- LimX - Github
- NEURA Robotics
- NVIDIA GR00T
- PAL Robotics
- ROBOTERA, spinoff of Tsinghua University
- Sanctuary Cognitive Systems Corporation
- Tesla
- The Robot Studio
- Tokyo Robotics
- UBTECH Robotics
- Unitree Robotics
- XPENG
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