The DOI matches its Crossref record; 12 of the 12 references it cites were found in a registry or an index.
Synthesis and stabilization of complex behaviors through online trajectory optimization
Abstract
We present an online trajectory optimization method and software platform applicable to complex humanoid robots performing challenging tasks such as getting up from an arbitrary pose on the ground and recovering from large disturbances using dexterous acrobatic maneuvers. The resulting behaviors, illustrated in the attached video, are computed only 7 × slower than real time, on a standard PC. The video also shows results on the acrobot problem, planar swimming and one-legged hopping. These simpler problems can already be solved in real time, without pre-computing anything.
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Cites
MuJoCo: A physics engine for model-based control
Todorov, E., Erez, T., & Tassa, Y. (2012) · 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems · doi:10.1109/iros.2012.6386109 · Cited by 4,767
Self-citationRigid-Body Dynamics with Friction and Impact
Stewart, D. E. (2000) · SIAM Review · doi:10.1137/s0036144599360110 · Cited by 628
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Self-citationEfficient Numerical Methods for Nonlinear MPC and Moving Horizon Estimation
Diehl, M., Ferreau, H. J., & Haverbeke, N. (2009) · Lecture Notes in Control and Information Sciences · doi:10.1007/978-3-642-01094-1_32 · Cited by 539
An Application of Reinforcement Learning to Aerobatic Helicopter Flight
Abbeel, P., Coates, A., Quigley, M., & Ng, A. Y. (2007) · Advances in Neural Information Processing Systems 19 · doi:10.7551/mitpress/7503.003.0006 · Cited by 535
Differential dynamic programming
Denham, W. (1971) · IEEE Transactions on Automatic Control · doi:10.1109/tac.1971.1099760 · Cited by 530
Differential dynamic programming
Jacobson, D. H., & Mayne, D. Q. (1970) · CERN Document Server (European Organization for Nuclear Research) · Cited by 521
A convex, smooth and invertible contact model for trajectory optimization
Todorov, E. (2011) · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · doi:10.1109/icra.2011.5979814 · Cited by 89
Self-citationInfinite-Horizon Model Predictive Control for Periodic Tasks with Contacts
Erez, T., Tassa, Y., & Todorov, E. (2011) · Robotics: Science and Systems VII · doi:10.15607/rss.2011.vii.010 · Cited by 61
Self-citationStochastic Complementarity for Local Control of Discontinuous Dynamics
Tassa, Y., & Todorov, E. V. (2010) · Robotics: Science and Systems · doi:10.15607/rss.2010.vi.022 · Cited by 50
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Cited by
Continuous control with deep reinforcement learning
Lillicrap, T. P., Hunt, J. J., Pritzel, A., Heess, N., Erez, T., Tassa, Y., Silver, D., & Wierstra, D. (2015) · arXiv · doi:10.48550/arxiv.1509.02971 · Cited by 10,782
Self-citationMuJoCo: A physics engine for model-based control
Todorov, E., Erez, T., & Tassa, Y. (2012) · 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems · doi:10.1109/iros.2012.6386109 · Cited by 4,767
Self-citationBenchmarking Deep Reinforcement Learning for Continuous Control
Duan, Y., Chen, X., Houthooft, R., Schulman, J., & Abbeel, P. (2016) · arXiv · doi:10.48550/arxiv.1604.06778 · Cited by 1,114
Motion planning with sequential convex optimization and convex collision checking
Schulman, J., Duan, Y., Ho, J., Lee, A., Awwal, I., Bradlow, H., Pan, J., Patil, S., Goldberg, K., & Abbeel, P. (2014) · The International Journal of Robotics Research · doi:10.1177/0278364914528132 · Cited by 866
Offline Reinforcement Learning: Tutorial, Review, and Perspectives on Open Problems
Levine, S., Kumar, A., Tucker, G., & Fu, J. (2020) · arXiv · doi:10.48550/arxiv.2005.01643 · Cited by 824
Metadata
- Authors
- Tassa, Y., Erez, T., & Todorov, E.
- Venue
- 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems
- Publisher
- IEEE
- Published
- 2012-10
- Pages
- 4906-4913
- OpenAlex
- W2087617385
- Cited by
- 744
- References
- 12
- FWCI
- 40.63
- Type
- conference paper
- Language
- en
- Open access
- closed
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- Tassa, Y., Erez, T., & Todorov, E. (2012). Synthesis and stabilization of complex behaviors through online trajectory optimization. 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems. https://doi.org/10.1109/iros.2012.6386025
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