mlsanityData to 13 Oct 2026

Controlling the Solo12 Quadruped Robot with Deep Reinforcement Learning

arXiv 2309.16683 ↗First posted 2 Aug 2023cs.RO cs.LGcited by 11

Not on the map. Why?

Abstract (arXiv)

Quadruped robots require robust and general locomotion skills to exploit their mobility potential in complex and challenging environments. In this work, we present the first 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, robust and easy to deploy. We detail the learning procedure and method for transfer on the real robot. In our experiments, we 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.

Key facts. Cited by 11 papers in the map (data through 13 Oct 2026). Builds on 19 of its 48 references that are in the map. First posted on arXiv 2 Aug 2023.

Builds on

19 of 48 references.

References · 19

  1. 2014Adam: A Method for Stochastic Optimizationcited by 37,093
  2. 2017Proximal Policy Optimization Algorithmscited by 14,592
  3. 2013Playing Atari with Deep Reinforcement Learningcited by 3,221
  4. 2015Trust Region Policy Optimizationcited by 2,513
  5. 2015End-to-End Training of Deep Visuomotor Policiescited by 850
  6. 2018QT-Opt: Scalable Deep Reinforcement Learning for Vision-Based Robotic Manipulationcited by 731
  7. 2020Learning Quadrupedal Locomotion over Challenging Terraincited by 497
  8. 2021RMA: Rapid Motor Adaptation for Legged Robotscited by 434
  9. 2019Learning agile and dynamic motor skills for legged robotscited by 406
  10. 2022Learning robust perceptive locomotion for quadrupedal robots in the wildcited by 301
  11. 2021Reinforcement Learning for Robust Parameterized Locomotion Control of Bipedal Robotscited by 95
  12. 2021Minimizing Energy Consumption Leads to the Emergence of Gaits in Legged Robotscited by 67
7 more
  1. 2022Concurrent Training of a Control Policy and a State Estimator for Dynamic and Robust Legged Locomotioncited by 61
  2. 2016Learning Locomotion Skills Using DeepRL: Does the Choice of Action Space Matter?cited by 44
  3. 2019Highly Dynamic Quadruped Locomotion via Whole-Body Impulse Control and Model Predictive Controlcited by 43
  4. 2022OPT-Mimic: Imitation of Optimized Trajectories for Dynamic Quadruped Behaviorscited by 20
  5. 2019An Open Torque-Controlled Modular Robot Architecture for Legged Locomotion Researchcited by 18
  6. 2022Versatile Skill Control via Self-supervised Adversarial Imitation of Unlabeled Mixed Motionscited by 13
  7. 2019Planning and Execution of Dynamic Whole-Body Locomotion for a Hydraulic Quadruped on Challenging Terraincited by 2

Built on by

Cited by year (2026 to 13 Oct)

Citing papers per year: 2023: 1; 2024: 6; 2025: 3; 2026: 1.

11 papers.

  1. 2024Verification-Guided Shielding for Deep Reinforcement Learningcited by 13
  2. 2024CaT: Constraints as Terminations for Legged Locomotion Reinforcement Learningcited by 11
  3. 2024SoloParkour: Constrained Reinforcement Learning for Visual Locomotion from Privileged Experiencecited by 10
  4. 2024Video2Reward: Generating Reward Function from Videos for Legged Robot Behavior Learningcited by 8
  5. 2024Realizable Continuous-Space Shields for Safe Reinforcement Learningcited by 3
  6. 2023Efficient Reinforcement Learning for Jumping Monopodscited by 0
  7. 2024Reinforcement Learning from Wild Animal Videoscited by 0
  8. 2025SATA: Safe and Adaptive Torque-Based Locomotion Policies Inspired by Animal Learningcited by 0
  9. 2025Coordinating Spinal and Limb Dynamics for Enhanced Sprawling Robot Mobilitycited by 0
  10. 2025Learn to Swim: Data-Driven LSTM Hydrodynamic Model for Quadruped Robot Gait Optimizationcited by 0
  11. 2026ReTracing: An Archaeological Approach Through Body, Machine, and Generative Systemscited by 0