Zero-Shot Terrain Generalization for Visual Locomotion Policies. - Alejandro Escontrela; George Yu; Peng Xu 010; Atil Iscen; Jie Tan 001 (CoRR, 2020)

A Factor-Graph Approach for Optimization Problems with Dynamics Constraints. - Mandy Xie; Alejandro Escontrela; Frank Dellaert (CoRR, 2020)

Visual-Locomotion: Learning to Walk on Complex Terrains with Vision. - Wenhao Yu 003; Deepali Jain; Alejandro Escontrela; Atil Iscen; Peng Xu 010; Erwin Coumans; Sehoon Ha; Jie Tan 001; Tingnan Zhang (CoRL, 2021)

Learning Agile Locomotion Skills with a Mentor. - Atil Iscen; George Yu; Alejandro Escontrela; Deepali Jain; Jie Tan 001; Ken Caluwaerts (ICRA, 2021)

DayDreamer: World Models for Physical Robot Learning. - Philipp Wu; Alejandro Escontrela; Danijar Hafner; Pieter Abbeel; Ken Goldberg (CoRL, 2022)

Adversarial Motion Priors Make Good Substitutes for Complex Reward Functions. - Alejandro Escontrela; Xue Bin Peng; Wenhao Yu 003; Tingnan Zhang; Atil Iscen; Ken Goldberg; Pieter Abbeel (IROS, 2022)

Autonomously Untangling Long Cables. - Vainavi Viswanath; Kaushik Shivakumar; Justin Kerr; Brijen Thananjeyan; Ellen R. Novoseller; Jeffrey Ichnowski; Alejandro Escontrela; Michael Laskey; Joseph E. Gonzalez; Ken Goldberg (Robotics: Science and Systems, 2022)

Video Prediction Models as Rewards for Reinforcement Learning. - Alejandro Escontrela; Ademi Adeniji; Wilson Yan; Ajay Jain; Xue Bin Peng; Ken Goldberg; Youngwoon Lee; Danijar Hafner; Pieter Abbeel (NeurIPS, 2023)

Barkour: Benchmarking Animal-level Agility with Quadruped Robots. - Ken Caluwaerts; Atil Iscen; J. Chase Kew; Wenhao Yu 003; Tingnan Zhang; Daniel Freeman; Kuang-Huei Lee; Lisa Lee; Stefano Saliceti; Vincent Zhuang; Nathan Batchelor; Steven Bohez; et al. (CoRR, 2023)

Learning Robotic Locomotion Affordances and Photorealistic Simulators from Human-Captured Data. - Alejandro Escontrela; Justin Kerr; Kyle Stachowicz; Pieter Abbeel (CoRL, 2024)

Learning a Diffusion Model Policy from Rewards via Q-Score Matching. - Michael Psenka; Alejandro Escontrela; Pieter Abbeel; Yi Ma 001 (ICML, 2024)

The Design of the Barkour Benchmark for Robot Agility. - Wenhao Yu 003; Ken Caluwaerts; Atil Iscen; J. Chase Kew; Tingnan Zhang; Daniel Freeman; Lisa Lee; Stefano Saliceti; Vincent Zhuang; Nathan Batchelor; Steven Bohez; Federico Casarini; et al. (IROS, 2024)