Learning Agile Robotic Locomotion Skills by Imitating Animals

Cited by (364)

Items 101–200 of 364

1. Imitating and Finetuning Model Predictive Control for Robust and Symmetric Quadrupedal Locomotion
   Donghoon Youm, Hyunyoung Jung, Hyeongjun Kim, Jemin Hwangbo, Hae-Won Park, Sehoon Ha · 2023 · IEEE Robotics and Automation Letters
2. Learning Agile Locomotion and Adaptive Behaviors via RL-augmented MPC
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3. CaT: Constraints as Terminations for Legged Locomotion Reinforcement Learning
   Elliot Chane-Sane, Pierre‐Alexandre Léziart, Thomas Flayols, Olivier Stasse, Philippe Souères, Nicolas Mansard · 2024 · IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
4. Learning Complex Motor Skills for Legged Robot Fall Recovery
   Chuanyu Yang, Can Pu, Guiyang Xin, Jie Zhang, Zhibin Li · 2023 · IEEE Robotics and Automation Letters
5. ManyQuadrupeds: Learning a Single Locomotion Policy for Diverse Quadruped Robots
   Milad Shafiee, Guillaume Bellegarda, Auke Jan Ijspeert · 2024 · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings
6. An Imitation from Observation Approach to Transfer Learning with Dynamics Mismatch
   Siddharth Desai, Ishan Durugkar, Haresh Karnan, Garrett Warnell, Josiah P. Hanna, Peter Stone · 2020 · arXiv (Cornell University)
7. A Hierarchical Framework for Quadruped Locomotion Based on Reinforcement Learning
   Wenhao Tan, Xing Fang, Wei Zhang, Ran Song, Teng Chen, Y. Zheng, Yibin Li · 2021 · IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
8. A Multi-Target Trajectory Planning of a 6-DoF Free-Floating Space Robot via Reinforcement Learning
   Shengjie Wang, Xiang Zheng, Yuxue Cao, Tao Zhang · 2021 · IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
9. Sim-to-Real Transfer for Fixed-Wing Uncrewed Aerial Vehicle: Pitch Control by High-Fidelity Modelling and Domain Randomization
   Daichi Wada, Sergio A. Araujo-Estrada, Shane P. Windsor · 2022 · IEEE Robotics and Automation Letters
10. Deep reinforcement learning for real-world quadrupedal locomotion: a comprehensive review
    Hongyin Zhang, He Li, Donglin Wang · 2022 · Intelligence & Robotics
11. AdaptiveON: Adaptive Outdoor Local Navigation Method for Stable and Reliable Actions
    Jing Liang, Kasun Weerakoon, Tianrui Guan, Nare Karapetyan, Dinesh Manocha · 2022 · IEEE Robotics and Automation Letters
12. Robotic Table Tennis: A Case Study into a High Speed Learning System
    David B. D’Ambrosio, Navdeep Jaitly, Vikas Sindhwani, Ken Oslund, Peng Xu, Nevena Lazic, Anish Shankar, Tianli Ding, Jonathan Abelian, Erwin Coumans et al. · 2023 · Robotics: Science and Systems
13. Learning Navigation Skills for Legged Robots with Learned Robot Embeddings
    Joanne Truong, Denis Yarats, Tianyu Li, Franziska Meier, Sonia Chernova, Dhruv Batra, Akshara Rai · 2021 · IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
14. ADHERENT: Learning Human-like Trajectory Generators for Whole-body Control of Humanoid Robots
    Paolo Maria Viceconte, Raffaello Camoriano, Giulio Romualdi, Diego Ferigo, Stefano Dafarra, Silvio Traversaro, Giuseppe Oriolo, Lorenzo Rosasco, Daniele Pucci · 2022 · IEEE Robotics and Automation Letters
15. Learning dexterity from human hand motion in internet videos
    Kenneth Shaw, Shikhar Bahl, Aravind Sivakumar, Aditya Kannan, Deepak Pathak · 2024 · The International Journal of Robotics Research
16. Learning contact-rich whole-body manipulation with example-guided reinforcement learning
    Jose Augusto Lima Barreiros, Aykut Özgün Önol, Mengchao Zhang, Sam Creasey, Aimee Goncalves, Andrew Beaulieu, Aditya D. Bhat, Kate Tsui, Alexander N. Alspach · 2025 · Science Robotics
17. Reactive Stepping for Humanoid Robots using Reinforcement Learning: Application to Standing Push Recovery on the Exoskeleton Atalante
    Alexis Duburcq, Fabian Schramm, Guilhem Boéris, Nicolas Bredèche, Yann Chevaleyre · 2022 · IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
18. Learning High Speed Precision Table Tennis on a Physical Robot
    Tianli Ding, Laura Graesser, Saminda W. Abeyruwan, David B. D’Ambrosio, Anish Shankar, Pierre Sermanet, Pannag Sanketi, Corey Lynch · 2022 · IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
19. The Effect of Robot Skill Level and Communication in Rapid, Proximate Human-Robot Collaboration
    Kin Man Lee, Arjun Krishna, Zulfiqar Zaidi, Rohan Paleja, Letian Chen, Erin Hedlund-Botti, Mariah Schrum, Matthew Gombolay · 2023 · ACM/IEEE International Conference on Human-Robot Interaction (HRI)
20. Enhancing hexapod robot mobility on challenging terrains: Optimizing CPG-generated gait with reinforcement learning
    Shichang Huang, Minhua Zheng, Zhongyu Hu, Peter Xiaoping Liu · 2025 · Neurocomputing
21. Animal Gaits on Quadrupedal Robots Using Motion Matching and Model-Based Control
    Dongho Kang, Simon Zimmermann, Stelian Coros · 2021 · IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
22. Lightweight Infrared and Visible Image Fusion via Adaptive DenseNet with Knowledge Distillation
    Zongqing Zhao, Shaojing Su, Junyu Wei, Xiaozhong Tong, Weijia Gao · 2023 · Electronics
23. PPR: Physically Plausible Reconstruction from Monocular Videos
    Gengshan Yang, Shuo Yang, John Z. Zhang, Zachary R. Manchester, Deva Ramanan · 2023 · IEEE/CVF International Conference on Computer Vision (ICCV)
24. Learning Agile Bipedal Motions on a Quadrupedal Robot
    Yunfei Li, Jinhan Li, Wei Fu, Yi Wu · 2024 · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings
25. Arm-Constrained Curriculum Learning for Loco-Manipulation of a Wheel-Legged Robot
    Zifan Wang, Yufei Jia, Lu Shi, Haoyu Wang, Haizhou Zhao, Xueyang Li, Jinni Zhou, Jun Ma, Guyue Zhou · 2024 · IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
26. Learning Coordinated Terrain-Adaptive Locomotion by Imitating a Centroidal Dynamics Planner
    Philémon Brakel, Steven Bohez, Leonard Hasenclever, Nicolas Heess, Konstantinos Bousmalis · 2022 · IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
27. SLoMo: A General System for Legged Robot Motion Imitation From Casual Videos
    John Z. Zhang, Shuo Yang, Gengshan Yang, Arun L. Bishop, Swaminathan Gurumurthy, Deva Ramanan, Zachary R. Manchester · 2023 · IEEE Robotics and Automation Letters
28. Leveraging Symmetry in RL-based Legged Locomotion Control
    Zhi Su, Xiaoyu Huang, Daniel Ordoñez-Apraez, Yunfei Li, Zhongyu Li, Qiayuan Liao, Giulio Turrisi, Massimiliano Pontil, Claudio Semini, Yi Wu et al. · 2024 · IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
29. A Systematic Scoping Review of Human-Dog Interactions in Virtual and Augmented Reality: The Use of Virtual Dog Models and Immersive Equipment
    James Andrew Oxley, Kristof Santa, Georg F Meyer, Carri Westgarth · 2022 · Frontiers in Virtual Reality
30. Learning Agile Locomotion Skills with a Mentor
    Atıl Işçen, George C. Yu, Alejandro Escontrela, Deepali Jain, Jie Tan, Ken Caluwaerts · 2021 · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings
31. Context is Everything: Implicit Identification for Dynamics Adaptation
    Ben Evans, Abitha Thankaraj, Lerrel Pinto · 2022 · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings
32. Learning a Centroidal Motion Planner for Legged Locomotion
    Julian Viereck, Ludovic Righetti · 2021 · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings
33. SyDog: A Synthetic Dog Dataset for Improved 2D Pose Estimation
    Moira Shooter, Charles Malleson, Adrian Hilton · 2021 · arXiv (Cornell University)
34. Safe and Adaptive 3-D Locomotion via Constrained Task-Space Imitation Learning
    Jiatao Ding, Tin Lun Lam, Ligang Ge, Jianxin Pang, Yanlong Huang · 2023 · IEEE/ASME Transactions on Mechatronics
35. Learning Agile Locomotion via Adversarial Training
    Yujin Tang, Jie Tan, Tatsuya Harada · 2020 · IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
36. From Adaptive Locomotion to Predictive Action Selection – Cognitive Control for a Six-Legged Walker
    Malte Schilling, Jan Paskarbeit, Helge Joachim Ritter, Axel Schneider, Holk Cruse · 2021 · IEEE Transactions on Robotics
37. End-to-End High-Level Control of Lower-Limb Exoskeleton for Human Performance Augmentation Based on Deep Reinforcement Learning
    Ranran Zheng, Zhiyuan Yu, Hongwei Liu, Jing Chen, Zhe Zhao, Longfei Jia · 2023 · IEEE Access
38. evoBOT – Design and Learning-Based Control of a Two-Wheeled Compound Inverted Pendulum Robot
    Patrick Klokowski, Julian Eßer, Nils Gramse, Benedikt Pschera, Marc Plitt, Frido Feldmeier, Shubham Bajpai, Christian Jestel, Nicolas Bach, Oliver Urbann et al. · 2023 · IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
39. Learning Terrain-Adaptive Locomotion with Agile Behaviors by Imitating Animals
    Tingguang Li, Yizheng Zhang, Chong Zhang, Qingxu Zhu, Jiapeng Sheng, Wanchao Chi, Cheng Yu Zhou, Lei Han · 2023 · IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
40. Skill Latent Space Based Multigait Learning for a Legged Robot
    Xin Liu, Jinze Wu, Yufei Xue, Chenkun Qi, Guiyang Xin, Feng Gao · 2024 · IEEE Transactions on Industrial Electronics
41. Selective state models are what you need for animal action recognition
    Edoardo Fazzari, Donato Romano, Fabrizio Falchi, Cesare Stefanini · 2024 · Ecological Informatics
42. Imitation and Adaptation Based on Consistency: A Quadruped Robot Imitates Animals from Videos Using Deep Reinforcement Learning
    Qingfeng Yao, Jilong Wang, Shuyu Yang, Cong Wang, Hongyin Zhang, Qifeng Zhang, Donglin Wang · 2022 · IEEE International Conference on Robotics and Biomimetics (ROBIO)
43. Parallel Monte Carlo Tree Search with Batched Rigid-body Simulations for Speeding up Long-Horizon Episodic Robot Planning
    Baichuan Huang, Abdeslam Boularias, Jingjin Yu · 2022 · IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
44. Learning Object Manipulation Skills via Approximate State Estimation from Real Videos
    Vladimír Petrík, Makarand Tapaswi, Ivan Laptev, Josef Šivic · 2020 · arXiv (Cornell University)
45. Sensitivity Adaptation of Lower-Limb Exoskeleton for Human Performance Augmentation Based on Deep Reinforcement Learning
    Ranran Zheng, Zhiyuan Yu, Hongwei Liu, Zhe Zhao, Jing Chen, Longfei Jia · 2023 · IEEE Access
46. Grow Your Limits: Continuous Improvement with Real-World RL for Robotic Locomotion
    Laura Smith, Yun-Hao Cao, Sergey Levine · 2024 · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings
47. Manipulator as a Tail: Promoting Dynamic Stability for Legged Locomotion
    Huang Huang, Antonio Loquercio, Ashish Kumar, Neerja Thakkar, Ken Goldberg, Jitendra Malik · 2024 · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings
48. Robotic Locomotion Skill Learning Using Unsupervised Reinforcement Learning With Controllable Latent Space Partition
    Ziming He, Pengyu Chen, Haobin Shi, Jingchen Li, Kao‐Shing Hwang · 2024 · IEEE Transactions on Industrial Informatics
49. World Model-Based Perception for Visual Legged Locomotion
    Hang Lai, Jiahang Cao, Jiafeng Xu, Hongtao Wu, Yunfeng Lin, Tao Kong, Yong Hai Yu, Weinan Zhang · 2025 · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings
50. A Survey on Deep Generative Models for Robot Learning From Multimodal Demonstrations
    Julen Urain, Ajay Mandlekar, Yilun Du, Nur Muhammad “Mahi” Shafiullah, Danfei Xu, Katerina Fragkiadaki, Georgia Chalvatzaki, Jan Peters · 2025 · IEEE Transactions on Robotics
51. Animal Motions on Legged Robots Using Nonlinear Model Predictive Control
    Dongho Kang, Flavio De Vincenti, Naomi C. Adam, Stelian Coros · 2022 · IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
52. Hierarchical Terrain-Aware Control for Quadrupedal Locomotion by Combining Deep Reinforcement Learning and Optimal Control
    Qingfeng Yao, Jilong Wang, Donglin Wang, Shuyu Yang, Hongyin Zhang, Yinuo Wang, Zhengqing Wu · 2021 · IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
53. Cherry-Picking with Reinforcement Learning
    Yunchu Zhang, Liyiming Ke, Abhay Deshpande, Abhishek Gupta, Siddhartha S Srinivasa · 2023 · Robotics: Science and Systems
54. A Hierarchical Framework for Quadruped Omnidirectional Locomotion Based on Reinforcement Learning
    Wenhao Tan, Xing Fang, Wei Zhang, Ran Song, Teng Chen, Y. Zheng, Yibin Li · 2023 · IEEE Transactions on Automation Science and Engineering
55. Learning Perceptual Locomotion on Uneven Terrains Using Sparse Visual Observations
    Fernando Acero, Kai Yuan, Zhibin Li · 2022 · IEEE Robotics and Automation Letters
56. PrePARE: Predictive Proprioception for Agile Failure Event Detection in Robotic Exploration of Extreme Terrains
    Sharmita Dey, David D. Fan, Robin Schmid, Anushri Dixit, Kyohei Otsu, Thomas Touma, Arndt Friedrich Schilling, Ali–akbar Agha–mohammadi · 2022 · IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
57. Sim-to-Real Transfer of Compliant Bipedal Locomotion on Torque Sensor-Less Gear-Driven Humanoid
    Shimpei Masuda, Kuniyuki Takahashi · 2023 · IEEE-RAS International Conference on Humanoid Robots (Humanoids)
58. Towards General and Autonomous Learning of Core Skills: A Case Study in Locomotion
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59. Rail Maintenance, Sensor Systems and Digitalization: A Comprehensive Review
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60. Manipulator-Independent Representations for Visual Imitation
    Yuxiang Zhou, Yusuf Aytar, Konstantinos Bousmalis · 2021 · Robotics: Science and Systems
61. Distributed Model Predictive Formation Control with Gait Synchronization for Multiple Quadruped Robots
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62. Consecutive Inertia Drift of Autonomous RC Car via Primitive-Based Planning and Data-Driven Control
    Yiwen Lu, Bo Yang, Jiayun Li, Yihan Zhou, Hongshuai Chen, Yilin Mo · 2023 · IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
63. On the Guaranteed Almost Equivalence Between Imitation Learning From Observation and Demonstration
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64. Custom Sine Waves Are Enough for Imitation Learning of Bipedal Gaits with Different Styles
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65. Proprioceptive State Estimation of Legged Robots with Kinematic Chain Modeling
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66. Learning-based Initialization of Trajectory Optimization for Path-following Problems of Redundant Manipulators
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67. Safe Deep Policy Adaptation
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68. Reinforcement Learning for a Perched Landing in the Presence of Wind
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69. Reinforcement Learning for Collaborative Quadrupedal Manipulation of a Payload over Challenging Terrain
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70. Zero-Shot Retargeting of Learned Quadruped Locomotion Policies Using Hybrid Kinodynamic Model Predictive Control
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71. Human Motion Control of Quadrupedal Robots using Deep Reinforcement Learning
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72. Imitation-Enhanced Reinforcement Learning With Privileged Smooth Transition for Hexapod Locomotion
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73. Learning Generic and Dynamic Locomotion of Humanoids Across Discrete Terrains
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74. PA-LOCO: Learning Perturbation-Adaptive Locomotion for Quadruped Robots
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75. Run Like a Dog: Learning Based Whole-Body Control Framework for Quadruped Gait Style Transfer
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76. Robot skill learning and the data dilemma it faces: a systematic review
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77. Quantifying Safety of Learning-based Self-Driving Control Using Almost-Barrier Functions
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78. Skeletal Feature Compensation for Imitation Learning with Embodiment Mismatch
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79. Leveraging control priors in deep reinforcement learning for robotics
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80. LEGATO: Cross-Embodiment Imitation Using a Grasping Tool
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81. Decentralized Motor Skill Learning for Complex Robotic Systems
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82. WildPose: a long-range 3D wildlife motion capture system
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83. Commonsense Reasoning for Legged Robot Adaptation with Vision-Language Models
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84. Dynamics and Domain Randomized Gait Modulation with Bezier Curves for Sim-to-Real Legged Locomotion
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85. FDPP: Fine-Tune Diffusion Policy with Human Preference
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86. AllGaits: Learning All Quadruped Gaits and Transitions
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87. Distance-Controllable Long Jump of Quadruped Robot Based on Parameter Optimization Using Deep Reinforcement Learning
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88. Towards Jumping Skill Learning by Target-guided Policy Optimization for Quadruped Robots
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89. Learning Highly Dynamic Behaviors for Quadrupedal Robots
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90. Learning Prehensile Dexterity by Imitating and Emulating State-Only Observations
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91. Probabilistic generative modeling and reinforcement learning extract the intrinsic features of animal behavior
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92. Learning to Manipulate Tools by Aligning Simulation to Video Demonstration
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93. Terrain-Aware Risk-Assessment-Network-Aided Deep Reinforcement Learning for Quadrupedal Locomotion in Tough Terrain
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95. Learning a Single Policy for Diverse Behaviors on a Quadrupedal Robot Using Scalable Motion Imitation
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97. Agile and Safe Trajectory Planning for Quadruped Navigation with Motion Anisotropy Awareness
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98. An Adaptable Approach to Learn Realistic Legged Locomotion without Examples
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100. Policy Transfer across Visual and Dynamics Domain Gaps via Iterative Grounding
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