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05/15/2023
Perceptive Locomotion through Whole-Body MPC and Optimal Region Selection
Real-time synthesis of legged locomotion maneuvers in challenging indust...
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04/25/2023
Roll-Drop: accounting for observation noise with a single parameter
This paper proposes a simple strategy for sim-to-real in Deep-Reinforcem...
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10/03/2022
Multi-Agent Chance-Constrained Stochastic Shortest Path with Application to Risk-Aware Intelligent Intersection
In transportation networks, where traffic lights have traditionally been...
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09/26/2022
Learning and Deploying Robust Locomotion Policies with Minimal Dynamics Randomization
Training deep reinforcement learning (DRL) locomotion policies often req...
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05/02/2022
VAE-Loco: Versatile Quadruped Locomotion by Learning a Disentangled Gait Representation
Quadruped locomotion is rapidly maturing to a degree where robots now ro...
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03/14/2022
Agile Maneuvers in Legged Robots: a Predictive Control Approach
Achieving agile maneuvers through multiple contact phases has been a lon...
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03/02/2022
RoLoMa: Robust Loco-Manipulation for Quadruped Robots with Arms
Deployment of robotic systems in the real world requires a certain level...
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01/13/2022
Motion Planning in Dynamic Environments Using Context-Aware Human Trajectory Prediction
Over the years, the separate fields of motion planning, mapping, and hum...
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12/09/2021
Next Steps: Learning a Disentangled Gait Representation for Versatile Quadruped Locomotion
Quadruped locomotion is rapidly maturing to a degree where robots now ro...
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09/10/2021
Where Should I Look? Optimised Gaze Control for Whole-Body Collision Avoidance in Dynamic Environments
As robots operate in increasingly complex and dynamic environments, fast...
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08/04/2021
Rapid Convex Optimization of Centroidal Dynamics using Block Coordinate Descent
In this paper we explore the use of block coordinate descent (BCD) to op...
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06/20/2021
HapFIC: An Adaptive Force/Position Controller for Safe Environment Interaction in Articulated Systems
Haptic interaction is essential for the dynamic dexterity of animals, wh...
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03/05/2021
Simultaneous Scene Reconstruction and Whole-Body Motion Planning for Safe Operation in Dynamic Environments
Recent work has demonstrated real-time mapping and reconstruction from d...
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02/25/2021
CPG-ACTOR: Reinforcement Learning for Central Pattern Generators
Central Pattern Generators (CPGs) have several properties desirable for ...
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11/14/2020
Sparsity-Inducing Optimal Control via Differential Dynamic Programming
Optimal control is a popular approach to synthesize highly dynamic motio...
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11/01/2020
A Passive Navigation Planning Algorithm for Collision-free Control of Mobile Robots
Path planning and collision avoidance are challenging in complex and hig...
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10/11/2020
Inverse Dynamics vs. Forward Dynamics in Direct Transcription Formulations for Trajectory Optimization
Benchmarks of state-of-the-art rigid-body dynamics libraries have report...
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10/02/2020
Memory Clustering using Persistent Homology for Multimodality- and Discontinuity-Sensitive Learning of Optimal Control Warm-starts
Shooting methods are an efficient approach to solving nonlinear optimal ...
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10/01/2020
A Direct-Indirect Hybridization Approach to Control-Limited DDP
Optimal control is a widely used tool for synthesizing motions and contr...
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08/03/2020
Predicted Composite Signed-Distance Fields for Real-Time Motion Planning in Dynamic Environments
We present a novel framework for motion planning in dynamic environments...
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03/03/2020
Bio-mimetic Adaptive Force/Position Control Using Fractal Impedance
The ability of animals to interact with complex dynamics is unmatched in...
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03/03/2020
Modeling and Control of a Hybrid Wheeled Jumping Robot
In this paper, we study a wheeled robot with a prismatic extension joint...
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03/01/2020
Optimizing Dynamic Trajectories for Robustness to Disturbances Using Polytopic Projections
This paper focuses on robustness to disturbance forces and uncertain pay...
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02/27/2020
Safe and Compliant Control of Redundant Robots Using a Stack of Passive Task-Space Controllers
Safe and compliant control of dynamic systems in interaction with the en...
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02/07/2020
Learning Whole-body Motor Skills for Humanoids
This paper presents a hierarchical framework for Deep Reinforcement Lear...
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09/11/2019
Crocoddyl: An Efficient and Versatile Framework for Multi-Contact Optimal Control
We introduce Crocoddyl (Contact RObot COntrol by Differential DYnamic Li...
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08/15/2019
Comparing Metrics for Robustness Against External Perturbations in Dynamic Trajectory Optimization
Dynamic trajectory optimization is a popular approach for generating opt...
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05/11/2019