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09/08/2023
Multi-contact Stochastic Predictive Control for Legged Robots with Contact Locations Uncertainty
Trajectory optimization under uncertainties is a challenging problem for...
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05/19/2023
Risk-Sensitive Extended Kalman Filter
In robotics, designing robust algorithms in the face of estimation uncer...
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03/07/2023
Path Planning Under Uncertainty to Localize mmWave Sources
In this paper, we study a navigation problem where a mobile robot needs ...
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09/30/2022
ContactNet: Online Multi-Contact Planning for Acyclic Legged Robot Locomotion
Online trajectory optimization techniques generally depend on heuristic-...
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09/20/2022
MPC with Sensor-Based Online Cost Adaptation
Model predictive control is a powerful tool to generate complex motions ...
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06/17/2022
Efficient Object Manipulation Planning with Monte Carlo Tree Search
This paper presents an efficient approach to object manipulation plannin...
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05/26/2022
Nonlinear Stochastic Trajectory Optimization for Centroidal Momentum Motion Generation of Legged Robots
Generation of robust trajectories for legged robots remains a challengin...
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04/05/2022
Model Based Meta Learning of Critics for Policy Gradients
Being able to seamlessly generalize across different tasks is fundamenta...
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02/25/2022
On the Use of Torque Measurement in Centroidal State Estimation
State of the art legged robots are either capable of measuring torque at...
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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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01/11/2022
ValueNetQP: Learned one-step optimal control for legged locomotion
Optimal control is a successful approach to generate motions for complex...
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10/27/2021
Millimeter Wave Wireless Assisted Robot Navigation with Link State Classification
The millimeter wave (mmWave) bands have attracted considerable attention...
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10/18/2021
A unified framework for walking and running of bipedal robots
In this paper, we propose a novel framework capable of generating variou...
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09/07/2021
𝒩IPM-MPC: An Efficient Null-Space Method Based Interior-Point Method for Model Predictive Control
Linear Model Predictive Control (MPC) is a widely used method to control...
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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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07/14/2021
Model-free Reinforcement Learning for Robust Locomotion Using Trajectory Optimization for Exploration
In this work we present a general, two-stage reinforcement learning appr...
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06/25/2021
𝒩IPM-HLSP: An Efficient Interior-Point Method for Hierarchical Least-Squares Programs
Hierarchical least-squares programs with linear constraints (HLSP) are a...
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06/22/2021
Learning Dynamical Systems from Noisy Sensor Measurements using Multiple Shooting
Modeling dynamical systems plays a crucial role in capturing and underst...
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04/25/2021
A Robustness Analysis of Inverse Optimal Control of Bipedal Walking
Cost functions have the potential to provide compact and understandable ...
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03/31/2021
Simultaneous Navigation and Construction Benchmarking Environments
We need intelligent robots for mobile construction, the process of navig...
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01/18/2021
Fast and Accurate Multi-Body Simulation with Stiff Viscoelastic Contacts
The simulation of multi-body systems with frictional contacts is a funda...
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11/09/2020
Impedance Optimization for Uncertain Contact Interactions Through Risk Sensitive Optimal Control
This paper addresses the problem of computing optimal impedance schedule...
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11/07/2020
Leveraging Forward Model Prediction Error for Learning Control
Learning for model based control can be sample-efficient and generalize ...
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11/05/2020
Learning a Centroidal Motion Planner for Legged Locomotion
Whole-body optimizers have been successful at automatically computing co...
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10/28/2020
DeepQ Stepper: A framework for reactive dynamic walking on uneven terrain
Reactive stepping and push recovery for biped robots is often restricted...
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10/16/2020
Robot Learning with Crash Constraints
In the past decade, numerous machine learning algorithms have been shown...
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10/16/2020
Bipedal Walking Control using Variable Horizon MPC
In this paper, we present a novel two-level variable Horizon Model Predi...
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10/09/2020
Robust walking based on MPC with viability-based feasibility guarantees
Model predictive control (MPC) has shown great success for controlling c...
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10/02/2020
Efficient Multi-Contact Pattern Generation with Sequential Convex Approximations of the Centroidal Dynamics
This paper investigates the problem of efficient computation of physical...
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08/19/2020
Enabling Remote Whole-Body Control with 5G Edge Computing
Real-world applications require light-weight, energy-efficient, fully au...
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08/08/2020
TriFinger: An Open-Source Robot for Learning Dexterity
Dexterous object manipulation remains an open problem in robotics, despi...
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05/15/2020
Stochastic and Robust MPC for Bipedal Locomotion: A Comparative Study on Robustness and Performance
Linear Model Predictive Control (MPC) has been successfully used for gen...
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09/30/2019
An Open Torque-Controlled Modular Robot Architecture for Legged Locomotion Research
We present a new open-source torque-controlled legged robot system, with...
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09/19/2019
Robust Humanoid Contact Planning with Learned Zero- and One-Step Capturability Prediction
Humanoid robots maintain balance and navigate by controlling the contact...
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08/10/2019
Learning to Explore in Motion and Interaction Tasks
Model free reinforcement learning suffers from the high sampling complex...
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07/17/2019
Learning Variable Impedance Control for Contact Sensitive Tasks
Reinforcement learning algorithms have shown great success in solving di...
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07/10/2019
Robust Humanoid Locomotion Using Trajectory Optimization and Sample-Efficient Learning
Trajectory optimization (TO) is one of the most powerful tools for gener...
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06/12/2019
Meta-Learning via Learned Loss
We present a meta-learning approach based on learning an adaptive, high-...
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06/09/2019
Trajectory Optimization for Robust Humanoid Locomotion with Sample-Efficient Learning
Trajectory optimization (TO) is one of the most powerful tools for gener...
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04/15/2019
Curious iLQR: Resolving Uncertainty in Model-based RL
Curiosity as a means to explore during reinforcement learning problems h...
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10/31/2018
Efficient Humanoid Contact Planning using Learned Centroidal Dynamics Prediction
Humanoid robots dynamically navigate an environment by interacting with ...
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09/19/2018
Leveraging Contact Forces for Learning to Grasp
Grasping objects under uncertainty remains an open problem in robotics r...
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03/06/2018
Learning Task-Specific Dynamics to Improve Whole-Body Control
In quadratic program based inverse dynamics control of underactuated, fr...
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12/26/2017
An MPC Walking Framework With External Contact Forces
In this work, we present an extension to a linear Model Predictive Contr...
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12/26/2017
A MPC Walking Framework With External Contact Forces
In this work, we present an extension to a linear Model Predictive Contr...
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04/29/2015