1.5k citations · 3k across the 6 of their papers we have counts for
8 papers
Monte Carlo Tree Search Gait Planner for Non-Gaited Legged System Control
Lorenzo Amatucci, Joon-Ha Kim, Jemin Hwangbo +1
In this work, a non-gaited framework for legged system locomotion is presented. The approach decouples the gait sequence optimization by considering the problem as a decision-makin…
Learning Forward Dynamics Model and Informed Trajectory Sampler for Safe Quadruped Navigation
Yunho Kim, Chanyoung Kim, Jemin Hwangbo
For autonomous quadruped robot navigation in various complex environments, a typical SOTA system is composed of four main modules -- mapper, global planner, local planner, and comm…
Concurrent Training of a Control Policy and a State Estimator for Dynamic and Robust Legged Locomotion
Gwanghyeon Ji, Juhyeok Mun, Hyeongjun Kim +1
In this paper, we propose a locomotion training framework where a control policy and a state estimator are trained concurrently. The framework consists of a policy network which ou…
Learning robust perceptive locomotion for quadrupedal robots in the wild
Takahiro Miki, Joonho Lee, Jemin Hwangbo +3
Legged robots that can operate autonomously in remote and hazardous environments will greatly increase opportunities for exploration into under-explored areas. Exteroceptive percep…
Learning Quadrupedal Locomotion over Challenging Terrain
Joonho Lee, Jemin Hwangbo, Lorenz Wellhausen +2
Some of the most challenging environments on our planet are accessible to quadrupedal animals but remain out of reach for autonomous machines. Legged locomotion can dramatically ex…
Learning agile and dynamic motor skills for legged robots
Jemin Hwangbo, Joonho Lee, Alexey Dosovitskiy +4
Legged robots pose one of the greatest challenges in robotics. Dynamic and agile maneuvers of animals cannot be imitated by existing methods that are crafted by humans. A compellin…