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05/22/2023
You Only Look at One: Category-Level Object Representations for Pose Estimation From a Single Example
In order to meaningfully interact with the world, robot manipulators mus...
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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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03/06/2023
Leveraging Scene Embeddings for Gradient-Based Motion Planning in Latent Space
Motion planning framed as optimisation in structured latent spaces has r...
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10/21/2022
Reaching Through Latent Space: From Joint Statistics to Path Planning in Manipulation
We present a novel approach to path planning for robotic manipulators, i...
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09/29/2022
Learning Low-Frequency Motion Control for Robust and Dynamic Robot Locomotion
Robotic locomotion is often approached with the goal of maximizing robus...
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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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04/07/2022
Zero-Shot Category-Level Object Pose Estimation
Object pose estimation is an important component of most vision pipeline...
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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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01/19/2022
BiConMP: A Nonlinear Model Predictive Control Framework for Whole Body Motion Planning
Online planning of whole-body motions for legged robots is challenging d...
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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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11/15/2021
Semantically Grounded Object Matching for Robust Robotic Scene Rearrangement
Object rearrangement has recently emerged as a key competency in robot m...
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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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04/19/2021
Receding-Horizon Perceptive Trajectory Optimization for Dynamic Legged Locomotion with Learned Initialization
To dynamically traverse challenging terrain, legged robots need to conti...
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03/22/2021
Introspective Visuomotor Control: Exploiting Uncertainty in Deep Visuomotor Control for Failure Recovery
End-to-end visuomotor control is emerging as a compelling solution for r...
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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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12/05/2020
RLOC: Terrain-Aware Legged Locomotion using Reinforcement Learning and Optimal Control
We present a unified model-based and data-driven approach for quadrupeda...
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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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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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07/03/2020
First Steps: Latent-Space Control with Semantic Constraints for Quadruped Locomotion
Traditional approaches to quadruped control frequently employ simplified...
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03/11/2020
Motion Planning for Quadrupedal Locomotion: Coupled Planning, Terrain Mapping and Whole-Body Control
Planning whole-body motions while taking into account the terrain condit...
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02/22/2020
Guided Constrained Policy Optimization for Dynamic Quadrupedal Robot Locomotion
Deep reinforcement learning (RL) uses model-free techniques to optimize ...
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02/17/2020
Reliable Trajectories for Dynamic Quadrupeds using Analytical Costs and Learned Initializations
Dynamic traversal of uneven terrain is a major objective in the field of...
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04/17/2019
Contact Planning for the ANYmal Quadruped Robot using an Acyclic Reachability-Based Planner
Despite the great progress in quadrupedal robotics during the last decad...
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04/09/2019
Hierarchical Planning of Dynamic Movements without Scheduled Contact Sequences
Most animal and human locomotion behaviors for solving complex tasks inv...
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04/07/2019
Planning and Execution of Dynamic Whole-Body Locomotion for a Hydraulic Quadruped on Challenging Terrain
We present a framework for dynamic quadrupedal locomotion over challengi...
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04/07/2019