Ioannis Havoutis

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Ingmar Posner
59 publications
Li Sun
58 publications
Ludovic Righetti
46 publications
Sethu Vijayakumar
46 publications
Maurice Fallon
35 publications
Michael Mistry
33 publications
Claudio Semini
33 publications
Darwin G. Caldwell
30 publications
Wolfgang Merkt
28 publications
Daniele De Martini
26 publications
Carlo Tiseo
24 publications

research

∙ 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...

1 Walter Goodwin, et al. ∙

research

∙ 05/15/2023

Perceptive Locomotion through Whole-Body MPC and Optimal Region Selection

Real-time synthesis of legged locomotion maneuvers in challenging indust...

0 Thomas Corbères, et al. ∙

research

∙ 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...

1 Luigi Campanaro, et al. ∙

research

∙ 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...

3 Jun Yamada, et al. ∙

research

∙ 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...

3 Chia-Man Hung, et al. ∙

research

∙ 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...

16 Siddhant Gangapurwala, et al. ∙

research

∙ 09/26/2022

Learning and Deploying Robust Locomotion Policies with Minimal Dynamics Randomization

Training deep reinforcement learning (DRL) locomotion policies often req...

1 Luigi Campanaro, et al. ∙

research

∙ 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...

5 Alexander L. Mitchell, et al. ∙

research

∙ 04/07/2022

Zero-Shot Category-Level Object Pose Estimation

Object pose estimation is an important component of most vision pipeline...

3 Walter Goodwin, et al. ∙

research

∙ 03/14/2022

Agile Maneuvers in Legged Robots: a Predictive Control Approach

Achieving agile maneuvers through multiple contact phases has been a lon...

11 Carlos Mastalli, et al. ∙

research

∙ 03/02/2022

RoLoMa: Robust Loco-Manipulation for Quadruped Robots with Arms

Deployment of robotic systems in the real world requires a certain level...

0 Henrique Ferrolho, et al. ∙

research

∙ 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...

0 Avadesh Meduri, et al. ∙

research

∙ 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...

0 Mark Nicholas Finean, et al. ∙

research

∙ 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...

4 Alexander L. Mitchell, et al. ∙

research

∙ 11/15/2021

Semantically Grounded Object Matching for Robust Robotic Scene Rearrangement

Object rearrangement has recently emerged as a key competency in robot m...

2 Walter Goodwin, et al. ∙

research

∙ 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...

0 Mark Nicholas Finean, et al. ∙

research

∙ 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...

0 Paarth Shah, et al. ∙

research

∙ 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...

0 Carlo Tiseo, et al. ∙

research

∙ 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...

0 Oliwier Melon, et al. ∙

research

∙ 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...

5 Chia-Man Hung, et al. ∙

research

∙ 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...

0 Mark Nicholas Finean, et al. ∙

research

∙ 02/25/2021

CPG-ACTOR: Reinforcement Learning for Central Pattern Generators

Central Pattern Generators (CPGs) have several properties desirable for ...

0 Luigi Campanaro, et al. ∙

research

∙ 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...

7 Siddhant Gangapurwala, et al. ∙

research

∙ 11/14/2020

Sparsity-Inducing Optimal Control via Differential Dynamic Programming

Optimal control is a popular approach to synthesize highly dynamic motio...

0 Traiko Dinev, et al. ∙

research

∙ 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...

0 Carlo Tiseo, et al. ∙

research

∙ 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...

0 Henrique Ferrolho, et al. ∙

research

∙ 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 ...

0 Wolfgang Merkt, et al. ∙

research

∙ 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...

0 Mark Nicholas Finean, et al. ∙

research

∙ 07/03/2020

First Steps: Latent-Space Control with Semantic Constraints for Quadruped Locomotion

Traditional approaches to quadruped control frequently employ simplified...

1 Alexander L. Mitchell, et al. ∙

research

∙ 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...

0 Carlos Mastalli, et al. ∙

research

∙ 02/22/2020

Guided Constrained Policy Optimization for Dynamic Quadrupedal Robot Locomotion

Deep reinforcement learning (RL) uses model-free techniques to optimize ...

0 Siddhant Gangapurwala, et al. ∙

research

∙ 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...

0 Oliwier Melon, et al. ∙

research

∙ 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...

0 Mathieu Geisert, et al. ∙

research

∙ 04/09/2019

Hierarchical Planning of Dynamic Movements without Scheduled Contact Sequences

Most animal and human locomotion behaviors for solving complex tasks inv...

0 Carlos Mastalli, et al. ∙

research

∙ 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...

0 Alexander W. Winkler, et al. ∙

research

∙ 04/07/2019

On-line and on-board planning and perception for quadrupedal locomotion

We present a legged motion planning approach for quadrupedal locomotion ...

0 Carlos Mastalli, et al. ∙

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