1.5k citations · 4.2k across the 24 of their papers we have counts for
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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…