Sethu Vijayakumar

research

∙ 09/08/2023

Few-Shot Learning of Force-Based Motions From Demonstration Through Pre-training of Haptic Representation

In many contact-rich tasks, force sensing plays an essential role in ada...

0 Marina Y. Aoyama, et al. ∙

research

∙ 08/04/2023

Nonprehensile Planar Manipulation through Reinforcement Learning with Multimodal Categorical Exploration

Developing robot controllers capable of achieving dexterous nonprehensil...

0 Juan Del Aguila Ferrandis, et al. ∙

research

∙ 07/25/2023

A behavioural transformer for effective collaboration between a robot and a non-stationary human

A key challenge in human-robot collaboration is the non-stationarity cre...

0 Ruaridh Mon-Williams, et al. ∙

research

∙ 06/07/2023

Online Multi-Contact Receding Horizon Planning via Value Function Approximation

Planning multi-contact motions in a receding horizon fashion requires a ...

0 Jiayi Wang, 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

∙ 03/24/2023

Topology-Based MPC for Automatic Footstep Placement and Contact Surface Selection

State-of-the-art approaches to footstep planning assume reduced-order dy...

0 Jaehyun Shim, et al. ∙

research

∙ 03/23/2023

RGB-D-Inertial SLAM in Indoor Dynamic Environments with Long-term Large Occlusion

This work presents a novel RGB-D-inertial dynamic SLAM method that can e...

0 Ran Long, et al. ∙

research

∙ 01/31/2023

OpTaS: An Optimization-based Task Specification Library for Trajectory Optimization and Model Predictive Control

This paper presents OpTaS, a task specification Python library for Traje...

0 Christopher E. Mower, et al. ∙

research

∙ 10/13/2022

ROS-PyBullet Interface: A Framework for Reliable Contact Simulation and Human-Robot Interaction

Reliable contact simulation plays a key role in the development of (semi...

16 Christopher E. Mower, et al. ∙

research

∙ 09/12/2022

Inverse-Dynamics MPC via Nullspace Resolution

Optimal control (OC) using inverse dynamics provides numerical benefits ...

0 Carlos Mastalli, et al. ∙

research

∙ 09/02/2022

Differentiable Optimal Control via Differential Dynamic Programming

Robot design optimization, imitation learning and system identification ...

0 Traiko Dinev, et al. ∙

research

∙ 04/25/2022

Sparse-Dense Motion Modelling and Tracking for Manipulation without Prior Object Models

This work presents an approach for modelling and tracking previously uns...

0 Christian Rauch, 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

∙ 03/06/2022

RGB-D SLAM in Indoor Planar Environments with Multiple Large Dynamic Objects

This work presents a novel dense RGB-D SLAM approach for dynamic planar ...

0 Ran Long, 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

∙ 10/18/2021

Set-based State Estimation with Probabilistic Consistency Guarantee under Epistemic Uncertainty

Consistent state estimation is challenging, especially under the epistem...

0 Shen Li, et al. ∙

research

∙ 09/27/2021

Non-prehensile Planar Manipulation via Trajectory Optimization with Complementarity Constraints

Contact adaption is an essential capability when manipulating objects. T...

0 João Moura, et al. ∙

research

∙ 09/09/2021

A Unified Model with Inertia Shaping for Highly Dynamic Jumps of Legged Robots

To achieve highly dynamic jumps of legged robots, it is essential to con...

0 Ke Wang, et al. ∙

research

∙ 08/03/2021

AcousticFusion: Fusing Sound Source Localization to Visual SLAM in Dynamic Environments

Dynamic objects in the environment, such as people and other agents, lea...

8 Tianwei Zhang, et al. ∙

research

∙ 08/02/2021

PoseFusion2: Simultaneous Background Reconstruction and Human Shape Recovery in Real-time

Dynamic environments that include unstructured moving objects pose a har...

5 Huayan Zhang, 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

∙ 03/08/2021

Co-Designing Robots by Differentiating Motion Solvers

We present a novel algorithm for the computational co-design of legged r...

0 Traiko Dinev, et al. ∙

research

∙ 02/07/2021

Decentralized Ability-Aware Adaptive Control for Multi-robot Collaborative Manipulation

Multi-robot teams can achieve more dexterous, complex and heavier payloa...

0 Lei Yan, 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

∙ 10/23/2020

Robust Planning and Control for Dynamic Quadrupedal Locomotion with Adaptive Feet

In this paper, we aim to improve the robustness of dynamic quadrupedal l...

0 Guiyang Xin, et al. ∙

research

∙ 10/21/2020

RigidFusion: Robot Localisation and Mapping in Environments with Large Dynamic Rigid Objects

This work presents a novel approach to simultaneously track a robot with...

0 Ran Long, 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

∙ 10/01/2020

A Direct-Indirect Hybridization Approach to Control-Limited DDP

Optimal control is a widely used tool for synthesizing motions and contr...

0 Carlos Mastalli, et al. ∙

research

∙ 06/23/2020

Multi-modal Trajectory Optimization for Impact-aware Manipulation

The transition from free motion to contact is a challenging problem in r...

0 Theodoros Stouraitis, et al. ∙

research

∙ 04/06/2020

Variable Autonomy of Whole-body Control for Inspection and Intervention in Industrial Environments using Legged Robots

The deployment of robots in industrial and civil scenarios is a viable s...

0 Guiyang Xin, et al. ∙

research

∙ 03/07/2020

Online Dynamic Motion Planning and Control for Wheeled Biped Robots

Wheeled-legged robots combine the efficiency of wheeled robots when driv...

0 Songyan Xin, et al. ∙

research

∙ 03/03/2020

Bio-mimetic Adaptive Force/Position Control Using Fractal Impedance

The ability of animals to interact with complex dynamics is unmatched in...

0 Carlo Tiseo, et al. ∙

research

∙ 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...

0 Traiko Dinev, et al. ∙

research

∙ 03/01/2020

Optimizing Dynamic Trajectories for Robustness to Disturbances Using Polytopic Projections

This paper focuses on robustness to disturbance forces and uncertain pay...

0 Henrique Ferrolho, et al. ∙

research

∙ 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...

0 Carlo Tiseo, et al. ∙

research

∙ 02/24/2020

Optimisation of Body-ground Contact for Augmenting Whole-Body Loco-manipulation of Quadruped Robots

Legged robots have great potential to perform loco-manipulation tasks, y...

0 Wouter Wolfslag, et al. ∙

research

∙ 02/07/2020

Learning Whole-body Motor Skills for Humanoids

This paper presents a hierarchical framework for Deep Reinforcement Lear...

0 Chuanyu Yang, et al. ∙

research

∙ 09/11/2019

Crocoddyl: An Efficient and Versatile Framework for Multi-Contact Optimal Control

We introduce Crocoddyl (Contact RObot COntrol by Differential DYnamic Li...

0 Carlos Mastalli, et al. ∙

research

∙ 08/15/2019

Comparing Metrics for Robustness Against External Perturbations in Dynamic Trajectory Optimization

Dynamic trajectory optimization is a popular approach for generating opt...

0 Henrique Ferrolho, et al. ∙

research

∙ 05/11/2019

Comparing Alternate Modes of Teleoperation for Constrained Tasks

Teleoperation of heavy machinery in industry often requires operators to...

0 Christopher E. Mower, et al. ∙

research

∙ 02/19/2019

Analytic Model for Quadruped Locomotion Task-Space Planning

Despite the extensive presence of the legged locomotion in animals, it i...

0 Carlo Tiseo, et al. ∙

research

∙ 03/06/2018

The ORCA Hub: Explainable Offshore Robotics through Intelligent Interfaces

We present the UK Robotics and Artificial Intelligence Hub for Offshore ...

0 Helen Hastie, et al. ∙

research

∙ 08/13/2012

Path Integral Control by Reproducing Kernel Hilbert Space Embedding

We present an embedding of stochastic optimal control problems, of the s...

0 Konrad Rawlik, et al. ∙

research

∙ 09/20/2010

Approximate Inference and Stochastic Optimal Control

We propose a novel reformulation of the stochastic optimal control probl...

0 Konrad Rawlik, et al. ∙

Sethu Vijayakumar

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