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Model-free Reinforcement Learning for Robust Locomotion using Demonstrations from Trajectory Optimization

arXiv 2107.06629 ↗First posted 14 Jul 2021cs.RO cs.AI cs.LGcited by 19

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Abstract (arXiv)

We present a general, two-stage reinforcement learning approach to create robust policies that can be deployed on real robots without any additional training using a single demonstration generated by trajectory optimization. The demonstration is used in the first stage as a starting point to facilitate initial exploration. In the second stage, the relevant task reward is optimized directly and a policy robust to environment uncertainties is computed. We demonstrate and examine in detail the performance and robustness of our approach on highly dynamic hopping and bounding tasks on a quadruped robot.

Key facts. Cited by 19 papers in the map (data through 14 Oct 2026). Builds on 18 of its 34 references that are in the map. First posted on arXiv 14 Jul 2021.

Builds on

18 of 34 references.

References · 18

  1. 2017Proximal Policy Optimization Algorithmscited by 15,215
  2. 2018QT-Opt: Scalable Deep Reinforcement Learning for Vision-Based Robotic Manipulationcited by 743
  3. 2020Learning Quadrupedal Locomotion over Challenging Terraincited by 604
  4. 2019Learning agile and dynamic motor skills for legged robotscited by 504
  5. 2020Learning Agile Robotic Locomotion Skills by Imitating Animalscited by 251
  6. 2018DeepMimic: Example-Guided Deep Reinforcement Learning of Physics-Based Character Skillscited by 163
  7. 2021Reinforcement Learning for Robust Parameterized Locomotion Control of Bipedal Robotscited by 116
  8. 2021Blind Bipedal Stair Traversal via Sim-to-Real Reinforcement Learningcited by 92
  9. 2020Dynamics Randomization Revisited:A Case Study for Quadrupedal Locomotioncited by 59
  10. 2020RLOC: Terrain-Aware Legged Locomotion using Reinforcement Learning and Optimal Controlcited by 59
  11. 2016Learning Locomotion Skills Using DeepRL: Does the Choice of Action Space Matter?cited by 48
  12. 2021GLiDE: Generalizable Quadrupedal Locomotion in Diverse Environments with a Centroidal Modelcited by 25
6 more
  1. 2019An Open Torque-Controlled Modular Robot Architecture for Legged Locomotion Researchcited by 22
  2. 2019Learning Variable Impedance Control for Contact Sensitive Taskscited by 16
  3. 2020Efficient Multi-Contact Pattern Generation with Sequential Convex Approximations of the Centroidal Dynamicscited by 8
  4. 2020Robust Trajectory Optimization over Uncertain Terrain with Stochastic Complementaritycited by 7
  5. 2020Stabilization of Complementarity Systems via Contact-Aware Controllerscited by 6
  6. 2020Impedance Optimization for Uncertain Contact Interactions Through Risk Sensitive Optimal Controlcited by 1

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Cited by year (2026 to 14 Oct)

Citing papers per year: 2022: 2; 2023: 5; 2024: 4; 2025: 2; 2026: 6.

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  1. 2024Reinforcement Learning for Versatile, Dynamic, and Robust Bipedal Locomotion Controlcited by 99
  2. 2023DTC: Deep Tracking Controlcited by 56
  3. 2023Robust and Versatile Bipedal Jumping Control through Reinforcement Learningcited by 36
  4. 2023Learning and Adapting Agile Locomotion Skills by Transferring Experiencecited by 33
  5. 2022Creating a Dynamic Quadrupedal Robotic Goalkeeper with Reinforcement Learningcited by 23
  6. 2024SoloParkour: Constrained Reinforcement Learning for Visual Locomotion from Privileged Experiencecited by 14
  7. 2026ZEST: Zero-shot Embodied Skill Transfer for Athletic Robot Controlcited by 11
  8. 2024Guided Reinforcement Learning for Robust Multi-Contact Loco-Manipulationcited by 10
  9. 2024Parameter-Adaptive Approximate MPC: Tuning Neural-Network Controllers without Retrainingcited by 7
  10. 2025Unsupervised Skill Discovery as Exploration for Learning Agile Locomotioncited by 6
  11. 2025Guided Reinforcement Learning for Omnidirectional 3D Jumping in Quadruped Robotscited by 4
  12. 2022Just Round: Quantized Observation Spaces Enable Memory Efficient Learning of Dynamic Locomotioncited by 3
7 more
  1. 2023Characterization of Human Balance through a Reinforcement Learning-based Muscle Controllercited by 1
  2. 2023Efficient Reinforcement Learning for Jumping Monopodscited by 1
  3. 2026SLowRL: Safe Low-Rank Adaptation Reinforcement Learning for Locomotioncited by 1
  4. 2026MPC-Injection: Biasing Off-Policy Locomotion RL Toward Controller-Induced Behavior Basinscited by 1
  5. 2026ADP: Adversarial Dynamics Priors for Physically Grounded Humanoid Locomotioncited by 1
  6. 2026CMR: Contractive Mapping Embeddings for Robust Humanoid Locomotion on Unstructured Terrainscited by 0
  7. 2026SafeExplorer: An Unbiased Policy Gradient for Reinforcement Learning with Recovery Interventionscited by 0