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Circus ANYmal: A Quadruped Learning Dexterous Manipulation with Its Limbs

Dec 10, 2020
Fan Shi, Timon Homberger, Joonho Lee, Takahiro Miki, Moju Zhao, Farbod Farshidian, Kei Okada, Masayuki Inaba, Marco Hutter

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Learning Quadrupedal Locomotion over Challenging Terrain

Oct 21, 2020
Joonho Lee, Jemin Hwangbo, Lorenz Wellhausen, Vladlen Koltun, Marco Hutter

* Science Robotics 2020 Vol. 5, Issue 47, eabc5986 

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DeepGait: Planning and Control of Quadrupedal Gaits using Deep Reinforcement Learning

Sep 18, 2019
Vassilios Tsounis, Mitja Alge, Joonho Lee, Farbod Farshidian, Marco Hutter

* Submitted IEEE Robotics and Automation Letters (RA-L) and IEEE International Conference on Robotics and Automation (ICRA) 2020 in Paris, France 

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ProbAct: A Probabilistic Activation Function for Deep Neural Networks

May 26, 2019
Joonho Lee, Kumar Shridhar, Hideaki Hayashi, Brian Kenji Iwana, Seokjun Kang, Seiichi Uchida

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Learning agile and dynamic motor skills for legged robots

Jan 24, 2019
Jemin Hwangbo, Joonho Lee, Alexey Dosovitskiy, Dario Bellicoso, Vassilios Tsounis, Vladlen Koltun, Marco Hutter

* Science Robotics 4.26 (2019): eaau5872 

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Robust Recovery Controller for a Quadrupedal Robot using Deep Reinforcement Learning

Jan 22, 2019
Joonho Lee, Jemin Hwangbo, Marco Hutter

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