1.1k citations
- Science OxfordGB10 papers
- University of MichiganUS9 papers
- ETH ZurichCH8 papers
- Technical University of MunichDE8 papers
- Technology Innovation InstituteAE8 papers
- University of OxfordGB8 papers
- Peking UniversityCN7 papers
- Centre National de la Recherche ScientifiqueFR6 papers
- Microsoft (United States)US6 papers
- Institut Systèmes Intelligents et de RobotiqueFR5 papers
- Korea Advanced Institute of Science and TechnologyKR5 papers
- Open University of IsraelIL5 papers
14 papers · 1 filter
RLOC: Terrain-Aware Legged Locomotion using Reinforcement Learning and Optimal Control
Siddhant Gangapurwala, Mathieu Geisert, Romeo Orsolino +2
We present a unified model-based and data-driven approach for quadrupedal planning and control to achieve dynamic locomotion over uneven terrain. We utilize on-board proprioceptive…
Volumetric Occupancy Mapping With Probabilistic Depth Completion for Robotic Navigation
Marija Popovic, Florian Thomas, Sotiris Papatheodorou +3
In robotic applications, a key requirement for safe and efficient motion planning is the ability to map obstacle-free space in unknown, cluttered 3D environments. However, commodit…
Sim-to-Real Learning of All Common Bipedal Gaits via Periodic Reward Composition
Jonah Siekmann, Yesh Godse, Alan Fern +1
We study the problem of realizing the full spectrum of bipedal locomotion on a real robot with sim-to-real reinforcement learning (RL). A key challenge of learning legged locomotio…
Learning Quadrupedal Locomotion over Challenging Terrain
Joonho Lee, Jemin Hwangbo, Lorenz Wellhausen +2
Some of the most challenging environments on our planet are accessible to quadrupedal animals but remain out of reach for autonomous machines. Legged locomotion can dramatically ex…
TAMPC: A Controller for Escaping Traps in Novel Environments
Sheng Zhong, Zhenyuan Zhang, Nima Fazeli +1
We propose an approach to online model adaptation and control in the challenging case of hybrid and discontinuous dynamics where actions may lead to difficult-to-escape "trap" stat…
Autonomous Robotic Suction to Clear the Surgical Field for Hemostasis using Image-based Blood Flow Detection
Florian Richter, Shihao Shen, Fei Liu +4
Autonomous robotic surgery has seen significant progression over the last decade with the aims of reducing surgeon fatigue, improving procedural consistency, and perhaps one day ta…