activity
20132023
most citedQT-Opt: Scalable Deep Reinforcement Learning for Vision-Based Robotic Manipulation

713 citations · 2.3k across the 20 of their papers we have counts for

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Showing 2015Show all

2 papers · 1 filter

cs.RO2015★ 37 cited

Humanoid Momentum Estimation Using Sensed Contact Wrenches

Nicholas Rotella, Alexander Herzog, Stefan Schaal +1

This work presents approaches for the estimation of quantities important for the control of the momentum of a humanoid robot. In contrast to previous approaches which use simplifie…

cs.RO2015★ 91 cited

Trajectory generation for multi-contact momentum-control

Alexander Herzog, Nicholas Rotella, Stefan Schaal +1

Simplified models of the dynamics such as the linear inverted pendulum model (LIPM) have proven to perform well for biped walking on flat ground. However, for more complex tasks th…