3 papers
cs.RO2025
Diffusion-based learning of contact plans for agile locomotion
Victor Dhédin, Adithya Kumar Chinnakkonda Ravi, Armand Jordana +5
Legged robots have become capable of performing highly dynamic maneuvers in the past few years. However, agile locomotion in highly constrained environments such as stepping stones…
cs.LG2025
Cost Function Estimation Using Inverse Reinforcement Learning with Minimal Observations
Sarmad Mehrdad, Avadesh Meduri, Ludovic Righetti
We present an iterative inverse reinforcement learning algorithm to infer optimal cost functions in continuous spaces. Based on a popular maximum entropy criteria, our approach ite…
cs.RO2024
ContactNet: Online Multi-Contact Planning for Acyclic Legged Robot Locomotion
Angelo Bratta, Avadesh Meduri, Michele Focchi +2
In legged logomotion, online trajectory optimization techniques generally depend on heuristic-based contact planners in order to have low computation times and achieve high replann…