Learning Locomotion Skills for Cassie: Iterative Design and Sim-to-Real

By Zhaoming Xie, Patrick Clary, Jeremy Dao, Pedro Morais, Jonanthan Hurst, Michiel van de Panne. 2019

175 citations recorded by the source corpus.

How researchers see this paper

The researchers whose trusted networks rank it highest, strongest advocate first. Every researcher gets a different order.

1. Xue Bin Peng
2. Sergey Levine
3. Pieter Abbeel
4. Glen Berseth
5. Chelsea Finn
6. Jitendra Malik
7. Tianhe Yu
8. Yoshua Bengio

Citations in the corpus

• Learning quadrupedal locomotion over challenging terrain (2020, methodology): “In our formulation, unlike many existing works (12, 14, 16) that focus on tracking the target velocity of the base ( IB Bv T ) , only the direction ( IB v ̂T ) is given to the controller.”
• Reinforcement Learning for Robust Parameterized Locomotion Control of Bipedal Robots (2021, methodology): “Recent RL methods on Cassie [4], [5] train policies to specify corrections to reference motions recorded from a model-based walking controller.”