Masked Sensory-Temporal Attention for Sensor Generalization in Quadruped Locomotion
NVIDIA AI Technology Centre (NVAITC)（英伟达人工智能技术中心（NVAITC））；College of Computing and Data Science, Nanyang Technological University（南洋理工大学计算与数据科学学院）；Coventry University（考文垂大学）
Dikai Liu, Tianwei Zhang, Jianxiong Yin, Simon See
With the rising focus on quadrupeds, a generalized policy capable of handling different robot models and sensor inputs becomes highly beneficial. Although several methods have been proposed to address different morphologies, it remains a challenge for learning-based policies to manage various combinations of proprioceptive information. This paper presents Masked Sensory-Temporal Attention (MSTA), a novel transformer-based mechanism with masking for quadruped locomotion. It employs direct sensor-level attention to enhance the sensory-temporal understanding and handle different combinations of sensor data, serving as a foundation for incorporating unseen information. MSTA can effectively understand its states even with a large portion of missing information, and is flexible enough to be deployed on physical systems despite the long input sequence.
MASQ: Multi-Agent Reinforcement Learning for Single Quadruped Robot Locomotion
Harbin Institute of Technology Shenzhen（哈尔滨工业大学（深圳））；School of Mechanical Engineering and Automation（机械工程与自动化学院）；Guangdong Key Laboratory of Intelligent Morphing Mechanisms and Adaptive Robotics（广东省智能变胞机构与自适应机器人重点实验室）
Saving the Limping: Fault-tolerant Quadruped Locomotion via Reinforcement Learning
NVIDIA AI Technology Centre (NVAITC)（英伟达人工智能技术中心（NVAITC））；School of Computer Science and Engineering, Nanyang Technological University（南洋理工大学计算机科学与工程学院）；Coventry University（考文垂大学）；Mahindra University（马恒达大学）
An Adaptive Control Algorithm for Quadruped Locomotion with Proprioceptive Linear Legs
Shenzhen Institute of Artificial Intelligence and Robotics for Society (AIRS)（深圳人工智能与机器人研究院）；Georgia Institute of Technology（佐治亚理工学院）；Hong Kong University of Science and Technology（香港科技大学）；Southern University of Science and Technology (SUSTech)（南方科技大学）；Hong Kong University of Science and Technology (Guangzhou)（香港科技大学（广州））
Minimizing Acoustic Noise: Enhancing Quiet Locomotion for Quadruped Robots in Indoor Applications
Department of Computer Science and Engineering, Shanghai Jiao Tong University（计算机科学与工程系，上海交通大学）；Department of Automation, Shanghai Jiao Tong University（自动化系，上海交通大学）；MoE Key Lab of Artificial Intelligence and AI Institute, Shanghai Jiao Tong University（人工智能与AI研究所，上海交通大学）
Evaluation of an Actuated Spine in Agile Quadruped Locomotion
Department of Computer Science, Technical University of Darmstadt（德意志技术大学达姆施塔特分校计算机科学系）；IDEAS Research Institute（IDEAS研究所）；Institute of Robotics and Machine Intelligence, Poznan University of Technology（波兹南技术大学机器人与机器智能研究所）
Terrain-perception-free Quadrupedal Spinning Locomotion on Versatile Terrains: Modeling, Analysis, and Experimental Validation
Shenzhen Institute of Artificial Intelligence and Robotics for Society (AIRS)（深圳市人工智能与机器人研究院）；Institute of Robotics and Intelligent Manufacturing (IRIM), The Chinese University of Hong Kong (CUHK)（香港中文大学机器人与智能制造研究院）；George W. Woodruff School of Mechanical Engineering, Georgia Institute of Technology（佐治亚理工学院乔治·W·伍德拉夫机械工程学院）；Beijing Institute for General Artificial Intelligence（北京通用人工智能研究院）
Towards An Adaptive Locomotion Strategy For Quadruped Rovers: Quantifying When To Slide Or Walk On Planetary Slopes
Dynamic Legged Systems Lab, Istituto Italiano di Tecnologia (IIT)（动态腿系统实验室，意大利技术研究院）；Dipartimento di Ingegneria Elettrica Elettronica e Informatica, Università di Catania（电气电子与信息工程系，卡塔尼亚大学）
Fine-Tuning Hard-to-Simulate Objectives for Quadruped Locomotion: A Case Study on Total Power Saving
Institute for Interdisciplinary Information Sciences, Tsinghua University（清华大学交叉信息研究院）；Shanghai AI Lab（上海人工智能实验室）；Shanghai Qi Zhi Institute（上海期智研究院）；Department of Electronic Engineering, Tsinghua University（清华大学电子工程系）
Physics-informed Neural Network Predictive Control for Quadruped Locomotion
School of Intelligent Systems Engineering, Shenzhen Campus of Sun Yat-sen University（中山大学深圳校区智能系统工程学院）；General Embodied AI Center of Sun Yat-sen University（中山大学通用具身人工智能中心）；Guangdong Provincial Key Laboratory of Fire Science and Intelligent Emergency Technology（广东省火灾科学与智能应急技术重点实验室）；College of Engineering, Peking University（北京大学工学院）；Robotics and Autonomous Systems Thrust, The Hong Kong University of Science and Technology (Guangzhou)（香港科技大学（广州）机器人与自主系统部）；George W. Woodruff School of Mechanical Engineering, Georgia Institute of Technology（佐治亚理工学院乔治·W. 伍德拉夫机械工程学院）
Bridge the Gap: Enhancing Quadruped Locomotion with Vertical Ground Perturbations
Technical University of Darmstadt（德累斯顿技术大学）；Institute of Sports Science and Centre of Cognitive Science（体育科学学院和认知科学中心）；Intelligent Autonomous Systems group（智能自主系统小组）；Department of Computer Science（计算机科学系）；Measurement and Sensor Technology Group（测量与传感器技术小组）；Department of Electrical Engineering and Information Technology（电气工程与信息科技系）；Institute of Structural Mechanics and Design（结构力学与设计研究所）；German Research Center for AI (DFKI)（德国人工智能研究中心）
End-to-End Multi-Task Policy Learning from NMPC for Quadruped Locomotion
Institute for Artificial Intelligence and Autonomous Systems (A2S)（人工智能与自主系统研究所）；Bonn-Rhein-Sieg University of Applied Sciences（波恩-莱茵-锡格应用科学大学）；Humanoid Robots Lab（人形机器人实验室）；University of Bonn（波恩大学）；Lamarr Institute for Machine Learning and Artificial Intelligence（Lamarr机器学习与人工智能研究所）；Center for Robotics（机器人中心）；Fraunhofer Institute for Intelligent Analysis and Information Systems（弗劳恩霍夫智能分析与信息系统研究所）
Load-bearing Assessment for Safe Locomotion of Quadruped Robots on Collapsing Terrain
Dynamic Legged Systems Lab, Istituto Italiano di Tecnologia (IIT)（动态腿系统实验室，意大利技术研究院）；Department of Mechanical Engineering, São Carlos School of Engineering (EESC), University of São Paulo (USP)（机械工程系，圣卡洛斯工程学院（EESC），圣保罗大学）
Dynamic Modeling and MPC for Locomotion of Tendon-Driven Soft Quadruped
Department of Electrical Engineering, IIT Gandhinagar（电子工程系，印度加尔各直辖区理工学院）；Department of Electronics and Computer Engineering, Sreenidhi Institute of Science and Technology（电子与计算机工程系，斯里尼迪学院科学与技术研究所）；Department of Mechanical Engineering, IIT Gandhinagar（机械工程系，印度加尔各直辖区理工学院）
Versatile, Robust, and Explosive Locomotion with Rigid and Articulated Compliant Quadrupeds
Cognitive Robotics, Delft University of Technology（代尔夫特理工大学认知机器人学系）；University of Trento（特伦托大学）；University of Manchester（曼彻斯特大学）；Institute of Robotics and Mechatronics, German Aerospace Center (DLR)（德国航空航天中心机器人与机电一体化研究所）
Learning Quadruped Locomotion using Bio-Inspired Neural Networks with Intrinsic Rhythmicity
Shenzhen Amigaga Technology Co Ltd.（深圳阿米加加科技有限公司）；Sun Yat-sen University（中山大学）；Shenyang Institute of Automation, Chinese Academy of Sciences（中国科学院沈阳自动化研究所）；University College London（伦敦大学学院）
