19 citations · 32 across the 15 of their papers we have counts for
4 papers · 2 filters
BC-MPPI: A Probabilistic Constraint Layer for Safe Model-Predictive Path-Integral Control
Odichimnma Ezeji, Michael Ziegltrum, Giulio Turrisi +2
Model Predictive Path Integral (MPPI) control has recently emerged as a fast, gradient-free alternative to model-predictive control in highly non-linear robotic tasks, yet it offer…
Feedback-MPPI: Fast Sampling-Based MPC via Rollout Differentiation -- Adios low-level controllers
Tommaso Belvedere, Michael Ziegltrum, Giulio Turrisi +1
Model Predictive Path Integral control is a powerful sampling-based approach suitable for complex robotic tasks due to its flexibility in handling nonlinear dynamics and non-convex…
Immersive Teleoperation Framework for Locomanipulation Tasks
Takuya Boehringer, Jonathan Embley-Riches, Karim Hammoud +2
Recent advancements in robotic loco-manipulation have leveraged Virtual Reality (VR) to enhance the precision and immersiveness of teleoperation systems, significantly outperformin…
On-Line Learning for Planning and Control of Underactuated Robots with Uncertain Dynamics
Giulio Turrisi, Marco Capotondi, Claudio Gaz +3
We present an iterative approach for planning and controlling motions of underactuated robots with uncertain dynamics. At its core, there is a learning process which estimates the…