The use of simulators in robotics research is widespread, underpinning the majority of recent
advances in the field. There are now more options available to researchers than ever before …

Reliable and efficient trajectory generation methods are a fundamental need for
autonomous dynamical systems. The goal of this article is to provide a comprehensive …

Simulation-based reinforcement learning approaches are leading the next innovations in
legged robot control. However, the resulting control policies are still not applicable on soft …

Successful real-world deployment of legged robots would require them to adapt in real-time
to unseen scenarios like changing terrains, changing payloads, wear and tear. This paper …

Legged robots that can operate autonomously in remote and hazardous environments will
greatly increase opportunities for exploration into underexplored areas. Exteroceptive …

Legged locomotion can extend the operational domain of robots to some of the most
challenging environments on Earth. However, conventional controllers for legged …

Legged robots pose one of the greatest challenges in robotics. Dynamic and agile
maneuvers of animals cannot be imitated by existing methods that are crafted by humans. A …

State-of-the-art quadrotor simulators have a rigid and highly-specialized structure: either are
they really fast, physically accurate, or photo-realistic. In this work, we propose a paradigm …

In this letter, we propose a locomotion training framework where a control policy and a state
estimator are trained concurrently. The framework consists of a policy network which outputs …

Fast and stable locomotion of legged robots involves demanding and contradictory
requirements, in particular rapid control frequency as well as an accurate dynamics model …