92 citations · 172 across the 6 of their papers we have counts for
6 papers
Attention-Based Map Encoding for Learning Generalized Legged Locomotion
Junzhe He, Chong Zhang, Fabian Jenelten +3
Dynamic locomotion of legged robots is a critical yet challenging topic in expanding the operational range of mobile robots. It requires precise planning when possible footholds ar…
AMOR: Adaptive Character Control through Multi-Objective Reinforcement Learning
Lucas N. Alegre, Agon Serifi, Ruben Grandia +3
Reinforcement learning (RL) has significantly advanced the control of physics-based and robotic characters that track kinematic reference motion. However, methods typically rely on…
On Solving the Dynamics of Constrained Rigid Multi-Body Systems with Kinematic Loops
Vassilios Tsounis, Ruben Grandia, Moritz Bächer
This technical report provides an in-depth evaluation of both established and state-of-the-art methods for simulating constrained rigid multi-body systems with hard-contact dynamic…
Autonomous Human-Robot Interaction via Operator Imitation
Sammy Christen, David Müller, Agon Serifi +5
Teleoperated robotic characters can perform expressive interactions with humans, relying on the operators' experience and social intuition. In this work, we propose to create auton…
TAMOLS: Terrain-Aware Motion Optimization for Legged Systems
Fabian Jenelten, Ruben Grandia, Farbod Farshidian +1
Terrain geometry is, in general, non-smooth, non-linear, non-convex, and, if perceived through a robot-centric visual unit, appears partially occluded and noisy. This work presents…
Adaptive CLF-MPC With Application To Quadrupedal Robots
Maria Vittoria Minniti, Ruben Grandia, Farbod Farshidian +1
Modern robotic systems are endowed with superior mobility and mechanical skills that make them suited to be employed in real-world scenarios, where interactions with heavy objects…