118 citations · 118 across the 2 of their papers we have counts for
5 papers
AIRoA-0: Long-Horizon, Precise, Cross-Embodiment Manipulation from Handheld Data
Yueh-Hua Wu, Kei Ota, Hanlong Li +17
AIRoA-0 (A-0) is a bimanual manipulation system learned from 16,151 hours of handheld demonstrations, with no robot data collected at any stage. The demonstrations are recorded wit…
YUBI-Real2Sim: 3DGS Scene Verification for Reliable Policy Evaluation
Hiroki Nishizawa, Takehiko Ohkawa, Nicola Scianca +3
Evaluating VLA policies on real robots is costly, time-consuming, and difficult to reproduce, making real-to-sim simulation essential for scalable evaluation. While 3D Gaussian Spl…
Learning Model Predictive Control for Periodic Repetitive Tasks
Nicola Scianca, Ugo Rosolia, Francesco Borrelli
We propose a reference-free learning model predictive controller for periodic repetitive tasks. We consider a problem in which dynamics, constraints and stage cost are periodically…
Gait Generation using Intrinsically Stable MPC in the Presence of Persistent Disturbances
Filippo M. Smaldone, Nicola Scianca, Valerio Modugno +2
Maintaining balance while walking is not a simple task for a humanoid robot because of its complex dynamics. The presence of a persistent disturbance makes this task even more chal…
MPC for Humanoid Gait Generation: Stability and Feasibility
Nicola Scianca, Daniele De Simone, Leonardo Lanari +1
We present IS-MPC, an intrinsically stable MPC framework for humanoid gait generation which incorporates an explicit stability constraint in the formulation. The proposed method us…