Jonathan Hurst

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All published works

Action	Title	Year	Authors
+ PDF Chat	Optimizing Bipedal Maneuvers of Single Rigid-Body Models for Reinforcement Learning	2022	Ryan Batke Fangzhou Yu Jeremy Dao Jonathan Hurst Ross L. Hatton Alan Fern Kevin Green
+ PDF Chat	Motion Planning for Agile Legged Locomotion using Failure Margin Constraints	2022	Kevin Green John Warila Ross L. Hatton Jonathan Hurst
+ PDF Chat	Learning Dynamic Bipedal Walking Across Stepping Stones	2022	Helei Duan Ashish Malik Mohitvishnu S. Gadde Jeremy Dao Alan Fern Jonathan Hurst
+ PDF Chat	Sim-to-Real Learning for Bipedal Locomotion Under Unsensed Dynamic Loads	2022	Jeremy Dao Kevin Green Helei Duan Alan Fern Jonathan Hurst
+ PDF Chat	Sim-to-Real Learning of Footstep-Constrained Bipedal Dynamic Walking	2022	Helei Duan Ashish Malik Jeremy Dao Aseem Saxena Kevin Green Jonah Siekmann Alan Fern Jonathan Hurst
+	Motion Planning for Agile Legged Locomotion using Failure Margin Constraints	2022	Kevin Green John Warila Ross L. Hatton Jonathan Hurst
+	Sim-to-Real Learning of Footstep-Constrained Bipedal Dynamic Walking	2022	Helei Duan Ashish Malik Jeremy Dao Aseem Saxena Kevin Green Jonah Siekmann Alan Fern Jonathan Hurst
+	Learning Dynamic Bipedal Walking Across Stepping Stones	2022	Helei Duan Ashish Malik Mohitvishnu S. Gadde Jeremy Dao Alan Fern Jonathan Hurst
+	Optimizing Bipedal Maneuvers of Single Rigid-Body Models for Reinforcement Learning	2022	Ryan Batke Fangzhou Yu Jeremy Dao Jonathan Hurst Ross L. Hatton Alan Fern Kevin Green
+	Dynamic Bipedal Maneuvers through Sim-to-Real Reinforcement Learning	2022	Fangzhou Yu Ryan Batke Jeremy Dao Jonathan Hurst Kevin Green Alan Fern
+	Sim-to-Real Learning for Bipedal Locomotion Under Unsensed Dynamic Loads	2022	Jeremy Dao Kevin Green Helei Duan Alan Fern Jonathan Hurst
+	Blind Bipedal Stair Traversal via Sim-to-Real Reinforcement Learning	2021	Jonah Siekmann Kevin Green John Warila Alan Fern Jonathan Hurst
+ PDF Chat	Sim-to-Real Learning of All Common Bipedal Gaits via Periodic Reward Composition	2021	Jonah Siekmann Yesh Godse Alan Fern Jonathan Hurst
+ PDF Chat	Learning Task Space Actions for Bipedal Locomotion	2021	Helei Duan Jeremy Dao Kevin Green Taylor Apgar Alan Fern Jonathan Hurst
+	Blind Bipedal Stair Traversal via Sim-to-Real Reinforcement Learning	2021	Jonah Siekmann Kevin Green John Warila Alan Fern Jonathan Hurst
+	Learning Spring Mass Locomotion: Guiding Policies With a Reduced-Order Model	2021	Kevin Green Yesh Godse Jeremy Dao Ross L. Hatton Alan Fern Jonathan Hurst
+	Blind Bipedal Stair Traversal via Sim-to-Real Reinforcement Learning	2021	Jonah Siekmann Kevin Green John Warila Alan Fern Jonathan Hurst
+	Sim-to-Real Learning of All Common Bipedal Gaits via Periodic Reward Composition	2020	Jonah Siekmann Yesh Godse Alan Fern Jonathan Hurst
+	Learning Spring Mass Locomotion: Guiding Policies with a Reduced-Order Model.	2020	Kevin Green Yesh Godse Jeremy Dao Ross L. Hatton Alan Fern Jonathan Hurst
+	Learning Memory-Based Control for Human-Scale Bipedal Locomotion	2020	Jonah Siekmann Srikar Valluri Jeremy Dao Francis Bermillo Helei Duan Alan Fern Jonathan Hurst
+	Learning Memory-Based Control for Human-Scale Bipedal Locomotion	2020	Jonah Siekmann Srikar Valluri Jeremy Dao Lorenzo Bermillo Helei Duan Alan Fern Jonathan Hurst
+ PDF Chat	Planning for the Unexpected: Explicitly Optimizing Motions for Ground Uncertainty in Running	2020	Kevin Green Ross L. Hatton Jonathan Hurst
+	Planning for the Unexpected: Explicitly Optimizing Motions for Ground Uncertainty in Running	2020	Kevin Green Ross L. Hatton Jonathan Hurst
+	Learning Task Space Actions for Bipedal Locomotion	2020	Helei Duan Jeremy Dao Kevin Green Taylor Apgar Alan Fern Jonathan Hurst
+	Planning for the Unexpected: Explicitly Optimizing Motions for Ground Uncertainty in Running	2020	Kevin Green Ross L. Hatton Jonathan Hurst
+	Sim-to-Real Learning of All Common Bipedal Gaits via Periodic Reward Composition	2020	Jonah Siekmann Yesh Godse Alan Fern Jonathan Hurst
+	Learning Spring Mass Locomotion: Guiding Policies with a Reduced-Order Model	2020	Kevin Green Yesh Godse Jeremy Dao Ross L. Hatton Alan Fern Jonathan Hurst
+	Learning Memory-Based Control for Human-Scale Bipedal Locomotion	2020	Jonah Siekmann Srikar Valluri Jeremy Dao Lorenzo Bermillo Helei Duan Alan Fern Jonathan Hurst
+ PDF Chat	Ankle Torque During Mid-Stance Does Not Lower Energy Requirements of Steady Gaits	2019	Mike Hector Kevin Green Burak Sencer Jonathan Hurst
+	Iterative Reinforcement Learning Based Design of Dynamic Locomotion Skills for Cassie	2019	Zhaoming Xie Patrick Clary Jeremy Dao Pedro Morais Jonathan Hurst Michiel van de Panne
+ PDF Chat	Feedback Control For Cassie With Deep Reinforcement Learning	2018	Zhaoming Xie Glen Berseth Patrick Clary Jonathan Hurst Michiel van de Panne
+	Feedback Control For Cassie With Deep Reinforcement Learning	2018	Zhaoming Xie Glen Berseth Patrick Clary Jonathan Hurst Michiel van de Panne

Common Coauthors

Coauthor	Papers Together
Alan Fern	23
Kevin Green	21
Jeremy Dao	18
Jonah Siekmann	11
Helei Duan	11
Ross L. Hatton	10
Yesh Godse	6
John Warila	5
Ashish Malik	4
Michiel van de Panne	3
Zhaoming Xie	3
Patrick Clary	3
Srikar Valluri	3
Ryan Batke	3
Lorenzo Bermillo	2
Aseem Saxena	2
Glen Berseth	2
Taylor Apgar	2
Fangzhou Yu	2
Mohitvishnu S. Gadde	2
Fangzhou Yu	1
Francis Bermillo	1
Mike Hector	1
Burak Sencer	1
Pedro Morais	1

Commonly Cited References

Action	Title	Year	Authors	# of times referenced
+	Proximal Policy Optimization Algorithms	2017	John Schulman Filip Wolski Prafulla Dhariwal Alec Radford Oleg Klimov	16
+	Learning agile and dynamic motor skills for legged robots	2019	Jemin Hwangbo Joonho Lee Alexey Dosovitskiy C. Dario Bellicoso Vassilios Tsounis Vladlen Koltun Marco Hutter	9
+	Sim-to-Real: Learning Agile Locomotion For Quadruped Robots	2018	Jie Tan Tingnan Zhang Erwin Coumans Atıl Işçen Yunfei Bai Danijar Hafner Steven Bohez Vincent Vanhoucke	8
+ PDF Chat	Sim-to-Real Transfer of Robotic Control with Dynamics Randomization	2018	Xue Bin Peng Marcin Andrychowicz Wojciech Zaremba Pieter Abbeel	8
+	Learning Memory-Based Control for Human-Scale Bipedal Locomotion	2020	Jonah Siekmann Srikar Valluri Jeremy Dao Francis Bermillo Helei Duan Alan Fern Jonathan Hurst	7
+ PDF Chat	Sim-to-Real Learning of All Common Bipedal Gaits via Periodic Reward Composition	2021	Jonah Siekmann Yesh Godse Alan Fern Jonathan Hurst	7
+ PDF Chat	Feedback Control For Cassie With Deep Reinforcement Learning	2018	Zhaoming Xie Glen Berseth Patrick Clary Jonathan Hurst Michiel van de Panne	6
+	On the implementation of an interior-point filter line-search algorithm for large-scale nonlinear programming	2005	Andreas Wächter Lorenz T. Biegler	6
+ PDF Chat	Planning for the Unexpected: Explicitly Optimizing Motions for Ground Uncertainty in Running	2020	Kevin Green Ross L. Hatton Jonathan Hurst	4
+ PDF Chat	Learning locomotion skills using DeepRL	2017	Xue Bin Peng Michiel van de Panne	4
+	Learning a Contact-Adaptive Controller for Robust, Efficient Legged Locomotion	2020	Xingye Da Zhaoming Xie David Hoeller Byron Boots Animashree Anandkumar Yuke Zhu B. N. Babich Animesh Garg	4
+ PDF Chat	DeepGait: Planning and Control of Quadrupedal Gaits Using Deep Reinforcement Learning	2020	Vassilios Tsounis Mitja Alge Joonho Lee Farbod Farshidian Marco Hutter	4
+ PDF Chat	Beyond Basins of Attraction: Quantifying Robustness of Natural Dynamics	2019	Steve Heim Alexander Badri–Spröwitz	3
+ PDF Chat	Learning quadrupedal locomotion over challenging terrain	2020	Joonho Lee Jemin Hwangbo Lorenz Wellhausen Vladlen Koltun Marco Hutter	3
+ PDF Chat	Learning symmetric and low-energy locomotion	2018	Wenhao Yu Greg Turk C. Karen Liu	3
+	Memory-based control with recurrent neural networks	2015	Nicolas Heess Jonathan J. Hunt Timothy Lillicrap David Silver	3
+	Emergence of Locomotion Behaviours in Rich Environments	2017	Nicolas Heess Dhruva Tb Sriram Srinivasan Jay Lemmon Josh Merel Greg Wayne Yuval Tassa Tom Erez Ziyu Wang S. M. Ali Eslami	3
+	Learning a Contact-Adaptive Controller for Robust, Efficient Legged Locomotion	2020	Xingye Da Zhaoming Xie David Hoeller Byron Boots Animashree Anandkumar Yuke Zhu B. N. Babich Animesh Garg	3
+ PDF Chat	GLiDE: Generalizable Quadrupedal Locomotion in Diverse Environments with a Centroidal Model	2022	Zhaoming Xie Xingye Da B. N. Babich Animesh Garg Michiel van de Panne	3
+ PDF Chat	Guided Uncertainty-Aware Policy Optimization: Combining Learning and Model-Based Strategies for Sample-Efficient Policy Learning	2020	Michelle A. Lee Carlos Florensa Jonathan Tremblay Nathan Ratliff Animesh Garg Fábio Ramos Dieter Fox	2
+	Learning Spring Mass Locomotion: Guiding Policies With a Reduced-Order Model	2021	Kevin Green Yesh Godse Jeremy Dao Ross L. Hatton Alan Fern Jonathan Hurst	2
+ PDF Chat	Deep Reinforcement Learning That Matters	2018	Peter Henderson Riashat Islam Philip Bachman Joëlle Pineau Doina Precup David Meger	2
+	DeepMind Control Suite	2018	Yuval Tassa Yotam Doron Alistair Muldal Tom Erez Yazhe Li Diego de Las Casas David Budden Abbas Abdolmaleki Josh Merel Andrew Lefrancq	2
+ PDF Chat	Residual Reinforcement Learning for Robot Control	2019	Tobias Johannink Shikhar Bahl Ashvin Nair Jianlan Luo Avinash Kumar Matthias Loskyll Juan Aparicio Ojea Eugen Solowjow Sergey Levine	2
+	Hierarchical Reinforcement Learning for Quadruped Locomotion	2019	Deepali Jain Atıl Işçen Ken Caluwaerts	2
+ PDF Chat	A Comparison of Action Spaces for Learning Manipulation Tasks	2019	Patrick Varin Lev Grossman Scott Kuindersma	2
+ PDF Chat	Variable Impedance Control in End-Effector Space: An Action Space for Reinforcement Learning in Contact-Rich Tasks	2019	Roberto Martín-Martín Michelle A. Lee Rachel Gardner Silvio Savarese Jeannette Bohg Animesh Garg	2
+ PDF Chat	Reinforcement Learning on Variable Impedance Controller for High-Precision Robotic Assembly	2019	Jianlan Luo Eugen Solowjow Chengtao Wen Juan Aparicio Ojea Alice M. Agogino Aviv Tamar Pieter Abbeel	2
+ PDF Chat	Past, Present, and Future of Simultaneous Localization and Mapping: Toward the Robust-Perception Age	2016	César Cadena Luca Carlone Henry Carrillo Yasir Latif Davide Scaramuzza José Neira Ian Reid John J. Leonard	2
+	Adam: A Method for Stochastic Optimization	2014	Diederik P. Kingma Jimmy Ba	2
+ PDF Chat	Stair Climbing Stabilization of the HRP-4 Humanoid Robot using Whole-body Admittance Control	2019	Stéphane Caron Abderrahmane Kheddar Olivier Tempier	2
+	Learning human behaviors from motion capture by adversarial imitation	2017	Josh Merel Yuval Tassa Dhruva Tb Sriram Srinivasan Jay Lemmon Ziyu Wang Greg Wayne Nicolas Heess	2
+ PDF Chat	ALLSTEPS: Curriculum‐driven Learning of Stepping Stone Skills	2020	Zhaoming Xie Hung Yu Ling Nam Hee Kim Michiel van de Panne	2
+	Learning to Walk Via Deep Reinforcement Learning	2019	Tuomas Haarnoja Sehoon Ha Aurick Zhou Jie Tan George Tucker Sergey Levine	2
+ PDF Chat	Learning hand-eye coordination for robotic grasping with deep learning and large-scale data collection	2017	Sergey Levine Peter Pástor Alex Krizhevsky Julian Ibarz Deirdre Quillen	2
+ PDF Chat	Robust Feedback Motion Policy Design Using Reinforcement Learning on a 3D Digit Bipedal Robot	2021	Guillermo A. Castillo Bowen Weng Wei Zhang Ayonga Hereid	2
+	Robust Imitation of Diverse Behaviors	2017	Ziyu Wang Josh Merel Scott Reed Greg Wayne Nando de Freitas Nicolas Heess	2
+	Blind Bipedal Stair Traversal via Sim-to-Real Reinforcement Learning	2021	Jonah Siekmann Kevin Green John Warila Alan Fern Jonathan Hurst	2
+ PDF Chat	Bipedal Walking on Constrained Footholds: Momentum Regulation via Vertical COM Control	2022	Min Dai Xiaobin Xiong Aaron D. Ames	1
+ PDF Chat	Linear Policies are Sufficient to Realize Robust Bipedal Walking on Challenging Terrains	2022	Lokesh Krishna Guillermo A. Castillo Utkarsh A. Mishra Ayonga Hereid Shishir Kolathaya	1
+ PDF Chat	DeepQ Stepper: A framework for reactive dynamic walking on uneven terrain	2021	Avadesh Meduri Majid Khadiv Ludovic Righetti	1
+ PDF Chat	Global Position Control on Underactuated Bipedal Robots: Step-to-step Dynamics Approximation for Step Planning	2021	Xiaobin Xiong Jenna Reher Aaron D. Ames	1
+ PDF Chat	Preference-Based Learning for User-Guided HZD Gait Generation on Bipedal Walking Robots	2021	Maegan Tucker Noel Csomay-Shanklin Wen-Loong Ma Aaron D. Ames	1
+ PDF Chat	Learning a Centroidal Motion Planner for Legged Locomotion	2021	Julian Viereck Ludovic Righetti	1
+ PDF Chat	Learning Task Space Actions for Bipedal Locomotion	2021	Helei Duan Jeremy Dao Kevin Green Taylor Apgar Alan Fern Jonathan Hurst	1
+ PDF Chat	Learning Bipedal Robot Locomotion from Human Movement	2021	Michael Taylor Sergey Bashkirov Javier Fernandez Rico Ike Toriyama Naoyuki Miyada Hideki Yanagisawa Kensaku Ishizuka	1
+ PDF Chat	Learning Coordinated Terrain-Adaptive Locomotion by Imitating a Centroidal Dynamics Planner	2022	Philémon Brakel Steven Bohez Leonard Hasenclever Nicolas Heess Konstantinos Bousmalis	1
+ PDF Chat	Tello Leg: The Study of Design Principles and Metrics for Dynamic Humanoid Robots	2022	Youngwoo Sim João Ramos	1
+ PDF Chat	Sim-to-Real Learning for Bipedal Locomotion Under Unsensed Dynamic Loads	2022	Jeremy Dao Kevin Green Helei Duan Alan Fern Jonathan Hurst	1
+ PDF Chat	Sim-to-Real Learning of Footstep-Constrained Bipedal Dynamic Walking	2022	Helei Duan Ashish Malik Jeremy Dao Aseem Saxena Kevin Green Jonah Siekmann Alan Fern Jonathan Hurst	1