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08/22/2023
Towards Autonomous Excavation Planning
Excavation plans are crucial in construction projects, dictating the dir...
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08/17/2023
Versatile Multi-Contact Planning and Control for Legged Loco-Manipulation
Loco-manipulation planning skills are pivotal for expanding the utility ...
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07/19/2023
Scientific Exploration of Challenging Planetary Analog Environments with a Team of Legged Robots
The interest in exploring planetary bodies for scientific investigation ...
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07/17/2023
RAYEN: Imposition of Hard Convex Constraints on Neural Networks
This paper presents RAYEN, a framework to impose hard convex constraints...
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06/26/2023
ANYmal Parkour: Learning Agile Navigation for Quadrupedal Robots
Performing agile navigation with four-legged robots is a challenging tas...
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06/08/2023
SMUG Planner: A Safe Multi-Goal Planner for Mobile Robots in Challenging Environments
Robotic exploration or monitoring missions require mobile robots to auto...
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05/15/2023
Fast Traversability Estimation for Wild Visual Navigation
Natural environments such as forests and grasslands are challenging for ...
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05/13/2023
Seeing Through the Grass: Semantic Pointcloud Filter for Support Surface Learning
Mobile ground robots require perceiving and understanding their surround...
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03/30/2023
Event-based Agile Object Catching with a Quadrupedal Robot
Quadrupedal robots are conquering various indoor and outdoor application...
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03/09/2023
Learning Arm-Assisted Fall Damage Reduction and Recovery for Legged Mobile Manipulators
Adaptive falling and recovery skills greatly extend the applicability of...
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03/02/2023
ArtPlanner: Robust Legged Robot Navigation in the Field
Due to the highly complex environment present during the DARPA Subterran...
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01/10/2023
ORBIT: A Unified Simulation Framework for Interactive Robot Learning Environments
We present ORBIT, a unified and modular framework for robot learning pow...
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01/09/2023
Learning-based Design and Control for Quadrupedal Robots with Parallel-Elastic Actuators
Parallel-elastic joints can improve the efficiency and strength of robot...
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11/29/2022
X-ICP: Localizability-Aware LiDAR Registration for Robust Localization in Extreme Environments
Modern robotic systems are required to operate in challenging environmen...
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11/25/2022
Unsupervised Continual Semantic Adaptation through Neural Rendering
An increasing amount of applications rely on data-driven models that are...
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11/18/2022
Bayesian Multi-Task Learning MPC for Robotic Mobile Manipulation
Mobile manipulation in robotics is challenging due to the need of solvin...
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10/26/2022
LiDAR-guided object search and detection in Subterranean Environments
Detecting objects of interest, such as human survivors, safety equipment...
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10/25/2022
A Framework for Collaborative Multi-Robot Mapping using Spectral Graph Wavelets
The exploration of large-scale unknown environments can benefit from the...
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10/06/2022
Meta Reinforcement Learning for Optimal Design of Legged Robots
The process of robot design is a complex task and the majority of design...
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09/26/2022
Advanced Skills by Learning Locomotion and Local Navigation End-to-End
The common approach for local navigation on challenging environments wit...
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08/17/2022
Perceptive Locomotion through Nonlinear Model Predictive Control
Dynamic locomotion in rough terrain requires accurate foot placement, co...
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08/02/2022
Present and Future of SLAM in Extreme Underground Environments
This paper reports on the state of the art in underground SLAM by discus...
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08/02/2022
Self-Supervised Traversability Prediction by Learning to Reconstruct Safe Terrain
Navigating off-road with a fast autonomous vehicle depends on a robust p...
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07/29/2022
Collision detection and identification for a legged manipulator
To safely deploy legged robots in the real world it is necessary to prov...
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07/29/2022
Haptic Teleoperation of High-dimensional Robotic Systems Using a Feedback MPC Framework
Model Predictive Control (MPC) schemes have proven their efficiency in c...
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06/30/2022
Design and Motion Planning for a Reconfigurable Robotic Base
A robotic platform for mobile manipulation needs to satisfy two contradi...
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06/28/2022
TAMOLS: Terrain-Aware Motion Optimization for Legged Systems
Terrain geometry is, in general, non-smooth, non-linear, non-convex, and...
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06/16/2022
Neural Scene Representation for Locomotion on Structured Terrain
We propose a learning-based method to reconstruct the local terrain for ...
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05/11/2022
Marsupial Walking-and-Flying Robotic Deployment for Collaborative Exploration of Unknown Environments
This work contributes a marsupial robotic system-of-systems involving a ...
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04/27/2022
Elevation Mapping for Locomotion and Navigation using GPU
Perceiving the surrounding environment is crucial for autonomous mobile ...
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03/29/2022
Locomotion Policy Guided Traversability Learning using Volumetric Representations of Complex Environments
Despite the progress in legged robotic locomotion, autonomous navigation...
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03/23/2022
Advanced Skills through Multiple Adversarial Motion Priors in Reinforcement Learning
In recent years, reinforcement learning (RL) has shown outstanding perfo...
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03/14/2022
Bipedal Locomotion with Nonlinear Model Predictive Control: Online Gait Generation using Whole-Body Dynamics
The ability to generate dynamic walking in real-time for bipedal robots ...
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03/11/2022
Learning-based Localizability Estimation for Robust LiDAR Localization
LiDAR-based localization and mapping is one of the core components in ma...
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03/04/2022
Whole-Body MPC and Dynamic Occlusion Avoidance: A Maximum Likelihood Visibility Approach
This paper introduces a novel approach for whole-body motion planning an...
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03/02/2022
Graph-based Multi-sensor Fusion for Consistent Localization of Autonomous Construction Robots
Enabling autonomous operation of large-scale construction machines, such...
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03/01/2022
Collaborative Robot Mapping using Spectral Graph Analysis
In this paper, we deal with the problem of creating globally consistent ...
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02/24/2022
A Collision-Free MPC for Whole-Body Dynamic Locomotion and Manipulation
In this paper, we present a real-time whole-body planner for collision-f...
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01/20/2022
Learning robust perceptive locomotion for quadrupedal robots in the wild
Legged robots that can operate autonomously in remote and hazardous envi...
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01/11/2022
Combining Learning-based Locomotion Policy with Model-based Manipulation for Legged Mobile Manipulators
Deep reinforcement learning produces robust locomotion policies for legg...
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12/08/2021
Adaptive CLF-MPC With Application To Quadrupedal Robots
Modern robotic systems are endowed with superior mobility and mechanical...
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12/01/2021
Deep Measurement Updates for Bayes Filters
Measurement update rules for Bayes filters often contain hand-crafted he...
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09/24/2021
Learning to Walk in Minutes Using Massively Parallel Deep Reinforcement Learning
In this work, we present and study a training set-up that achieves fast ...
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09/15/2021
Solving Occlusion in Terrain Mapping with Neural Networks
Accurate and complete terrain maps enhance the awareness of autonomous r...
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08/17/2021
Passivity-based control for haptic teleoperation of a legged manipulator in presence of time-delays
When dealing with the haptic teleoperation of multi-limbed mobile manipu...
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06/17/2021
Cat-like Jumping and Landing of Legged Robots in Low-gravity Using Deep Reinforcement Learning
In this article, we show that learned policies can be applied to solve l...
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06/09/2021
HEAP – The autonomous walking excavator
The demand and the potential for automation in the construction sector i...
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06/08/2021
Model Predictive Robot-Environment Interaction Control for Mobile Manipulation Tasks
Modern, torque-controlled service robots can regulate contact forces whe...
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06/03/2021
Traversing Steep and Granular Martian Analog Slopes With a Dynamic Quadrupedal Robot
Celestial bodies such as the Moon and Mars are mainly covered by loose, ...
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04/23/2021