Versatile Skill Control via Self-supervised Adversarial Imitation of Unlabeled Mixed Motions

Li, Chenhao; Blaes, Sebastian; Kolev, Pavel; Marin, Vlastelica,; Frey, Jonas; Martius, Georg

doi:10.1109/icra48891.2023.10160421

Search citation statements

Order By: Relevance

Paper Sections

Select...

Citation Types

Supporting

Mentioning

Contrasting

Year Published

2023

2024

Publication Types

Select...

Article3

Other2

Relationship

Self Cite0

Independent5

Authors

Journals

Cited by 10 publications

References 11 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

Learning Multiple-Gait Quadrupedal Locomotion via Hierarchical Reinforcement Learning

Wei,

Li,

et al. 2023

Int. J. Precis. Eng. Manuf.

View full text Add to dashboard Cite

Learning Multiple-Gait Quadrupedal Locomotion via Hierarchical Reinforcement Learning

Wei,

Li,

et al. 2023

Int. J. Precis. Eng. Manuf.

View full text Add to dashboard Cite

Economical Quadrupedal Multi-Gait Locomotion via Gait-Heuristic Reinforcement Learning

Wei,

Zou,

et al. 2024

J Bionic Eng

View full text Add to dashboard Cite

Controlling the Solo12 quadruped robot with deep reinforcement learning

Aractingi,

Léziart,

Flayols

et al. 2023

Sci Rep

View full text Add to dashboard Cite

Quadruped robots require robust and general locomotion skills to exploit their mobility potential in complex and challenging environments. In this work, we present an implementation of a robust end-to-end learning-based controller on the Solo12 quadruped. Our method is based on deep reinforcement learning of joint impedance references. The resulting control policies follow a commanded velocity reference while being efficient in its energy consumption and easy to deploy. We detail the learning procedure and method for transfer on the real robot. We show elaborate experiments. Finally, we present experimental results of the learned locomotion on various grounds indoors and outdoors. These results show that the Solo12 robot is a suitable open-source platform for research combining learning and control because of the easiness in transferring and deploying learned controllers.

show abstract

Versatile Skill Control via Self-supervised Adversarial Imitation of Unlabeled Mixed Motions

Cited by 10 publications

References 11 publications

Learning Multiple-Gait Quadrupedal Locomotion via Hierarchical Reinforcement Learning

Learning Multiple-Gait Quadrupedal Locomotion via Hierarchical Reinforcement Learning

Economical Quadrupedal Multi-Gait Locomotion via Gait-Heuristic Reinforcement Learning

Controlling the Solo12 quadruped robot with deep reinforcement learning

Contact Info

Product

Resources

About