Awesome
Awesome_Quadrupedal_Robots 
Don't hesitate to leave issues or discussions to me if there are any corrections or errors.
🔤 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
Quadrupedal Robot 🐅
<details> <summary><b>Platforms</b></summary>- AiDIN
- ANYmal
- Barkour
- Cheetah
- CyberDog 2
- DeepRobotics
- HyQ
- Magnecko
- Max
- Mevius
- PongBot
- Raibo
- RBQ
- Solo8
- Spot
- Trakr
- Unitree
- Vision60
Papers 📑
It could include abroad keywords related to quadrupedal walking robots, e.g. control methods or reinforcement learning
- 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
- 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
- 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
- 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
- H2- and H∞-Optimal Model Predictive Controllers for Robust Legged Locomotion
- Hierarchical Open-Vocabulary 3D Scene Graphs for Language-Grounded Robot Navigation
- 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 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-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
- 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
- MQE: Unleashing the Power of Interaction with Multi-agent Quadruped Environment
- 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 *
- ProNav: Proprioceptive Traversability Estimation for Legged Robot Navigation in Outdoor Environments
- Reduced Model Predictive Control Toward Highly Dynamic Quadruped Locomotion
- Rethinking Robustness Assessment: Adversarial Attacks on Learning-based Quadrupedal Locomotion Controllers
- 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
- 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
- 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
- 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 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
- 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
- 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
- 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
- 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
- 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
- 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 💻
<details> <summary><b>Repositories</b></summary><img src="https://img.shields.io/github/stars/abizovnuralem/go2_omniverse?style=flat-square&color=yellow">
<img src="https://img.shields.io/github/stars/adham-elarabawy/open-quadruped?style=flat-square&color=yellow">
<img src="https://img.shields.io/github/stars/Alescontrela/AMP_for_hardware?style=flat-square&color=yellow">
<img src="https://img.shields.io/github/stars/antonilo/rl_locomotion?style=flat-square&color=yellow">
<img src="https://img.shields.io/github/stars/AtsushiSakai/PythonRobotics?style=flat-square&color=yellow">
<img src="https://img.shields.io/github/stars/bdaiinstitute/spot_ros2?style=flat-square&color=yellow">
<img src="https://img.shields.io/github/stars/bdaiinstitute/vlfm?style=flat-square&color=yellow">
<img src="https://img.shields.io/github/stars/bulletphysics/bullet3?style=flat-square&color=yellow">
<img src="https://img.shields.io/github/stars/carlosferrazza/BodyTransformer?style=flat-square&color=yellow">
<img src="https://img.shields.io/github/stars/chvmp/champ_setup_assistant?style=flat-square&color=yellow">
<img src="https://img.shields.io/github/stars/Daniella1/urdf_files_dataset?style=flat-square&color=yellow">
<img src="https://img.shields.io/github/stars/danijar/dreamerv3?style=flat-square&color=yellow">
<img src="https://img.shields.io/github/stars/Derek-TH-Wang/quadruped_ctrl?style=flat-square&color=yellow">
<img src="https://img.shields.io/github/stars/dojo-sim/Dojo.jl?style=flat-square&color=yellow">
<img src="https://img.shields.io/github/stars/dojo-sim/dojopy?style=flat-square&color=yellow">
<img src="https://img.shields.io/github/stars/erwincoumans/pybullet_robots?style=flat-square&color=yellow">
<img src="https://img.shields.io/github/stars/ethz-adrl/towr?style=flat-square&color=yellow">
<img src="https://img.shields.io/github/stars/eureka-research/DrEureka?style=flat-square&color=yellow">
<img src="https://img.shields.io/github/stars/facebookresearch/spot-sim2real?style=flat-square&color=yellow">
<img src="https://img.shields.io/github/stars/gaiyi7788/awesome-legged-locomotion-learning?style=flat-square&color=yellow">
<img src="https://img.shields.io/github/stars/google/brax?style=flat-square&color=yellow">
<img src="https://img.shields.io/github/stars/heuristicus/spot_ros?style=flat-square&color=yellow">
<img src="https://img.shields.io/github/stars/isaac-sim/IsaacLab?style=flat-square&color=yellow">
<img src="https://img.shields.io/github/stars/leggedrobotics/legged_gym?style=flat-square&color=yellow">
<img src="https://img.shields.io/github/stars/leggedrobotics/rsl_rl?style=flat-square&color=yellow">
<img src="https://img.shields.io/github/stars/leggedrobotics/viplanner?style=flat-square&color=yellow">
<img src="https://img.shields.io/github/stars/nicrusso7/rex-gym?style=flat-square&color=yellow">
<img src="https://img.shields.io/github/stars/NM512/dreamerv3-torch?style=flat-square&color=yellow">
<img src="https://img.shields.io/github/stars/NVIDIA-Omniverse/IsaacGymEnvs?style=flat-square&color=yellow">
<img src="https://img.shields.io/github/stars/NVIDIA-Omniverse/OmniIsaacGymEnvs?style=flat-square&color=yellow">
<img src="https://img.shields.io/github/stars/OpenQuadruped/spot_mini_mini?style=flat-square&color=yellow">
<img src="https://img.shields.io/github/stars/ori-drs/lfmc_gym?style=flat-square&color=yellow">
<img src="https://img.shields.io/github/stars/PetoiCamp/OpenCat?style=flat-square&color=yellow">
<img src="https://img.shields.io/github/stars/pypose/pypose?style=flat-square&color=yellow">
<img src="https://img.shields.io/github/stars/robomechanics/quad-sdk?style=flat-square&color=yellow">
<img src="https://img.shields.io/github/stars/robot-descriptions/awesome-robot-descriptions?style=flat-square&color=yellow">
<img src="https://img.shields.io/github/stars/silvery107/rl-mpc-locomotion?style=flat-square&color=yellow">
<img src="https://img.shields.io/github/stars/stanfordroboticsclub/StanfordQuadruped?style=flat-square&color=yellow">
<img src="https://img.shields.io/github/stars/TopHillRobotics/quadruped-robot?style=flat-square&color=yellow">
<img src="https://img.shields.io/github/stars/unitreerobotics/unitree_mujoco?style=flat-square&color=yellow">
<img src="https://img.shields.io/github/stars/unitreerobotics/unitree_sdk2?style=flat-square&color=yellow">
<img src="https://img.shields.io/github/stars/aCodeDog/legged-robots-manipulation?style=flat-square&color=yellow">
<img src="https://img.shields.io/github/stars/vikashplus/robohive?style=flat-square&color=yellow">
Youtube 🎥
<details> <summary><b>Channels</b></summary>- 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 👥
<details> <summary><b>Homepages</b></summary>- Biomimetic Robotics Lab - MIT
- Biorobotics Laboratory (BioRob) - EPFL
- Computational Robotics Lab - ETH
- Dynamic and Autonomous Robotic Systems (DARoS) Laboratory - University of Massachusetts Amherst
- Dynamic Legged Systems Lab - Istituto Italiano di Tecnologia
- Dynamic Robot Systems Group - University of Oxford
- Hybrid Robotics Lab - UC Berkely
- RAI Lab - KAIST
- RcLab - Kookmin University
- Robomechanics Lab - Carnegie Mellon University
- Robotic System Lab - ETH Zürich
- Robotics Innovatory - SungKyunKwan University
- Stochastic Robotics Lab (StochLab) - IISc
- The Robotics Lab - IDSIA
Related Materials
<details> <summary><b>More</b></summary>Extended to Bipedal(Legged) Robots
Research
- 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
- FLD: Fourier Latent Dynamics for Structured Motion Representation and Learning
- 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 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
- Real-Time Safe Bipedal Robot Navigation using Linear Discrete Control Barrier Functions
- Real-World Humanoid Locomotion with Reinforcement Learning
- Whole-body simulation of realistic fruit fly locomotion with deep reinforcement learning
Github Repositories
<img src="https://img.shields.io/github/stars/carlosferrazza/humanoid-bench?style=flat-square&color=yellow">
<img src="https://img.shields.io/github/stars/jonyzhang2023/awesome-humanoid-learning?style=flat-square&color=yellow">
<img src="https://img.shields.io/github/stars/MarkFzp/humanplus?style=flat-square&color=yellow">
<img src="https://img.shields.io/github/stars/mit-biomimetics/fld?style=flat-square&color=yellow">
<img src="https://img.shields.io/github/stars/NVlabs/ProtoMotions?style=flat-square&color=yellow">
<img src="https://img.shields.io/github/stars/pocketxjl/humanoid-control?style=flat-square&color=yellow">
<img src="https://img.shields.io/github/stars/roboterax/humanoid-gym?style=flat-square&color=yellow">
<img src="https://img.shields.io/github/stars/Skylark0924/Rofunc?style=flat-square&color=yellow">
Labs & Companies
- Agility Robotics
- Boardwalk Robotics - Nadia
- Boston Dynamics - Electric Altas
- Dynamic Robotics Laboratory - Oregon State University
- Human Centered Robotics Laboratory - University of Texas at Austin
- Hybrid Robotics - Berkeley Humanoid
- Institute for Human and Machine Cognition - Nadia
- Unitree - G1