From the 1 of 21 linked papers with an AI index.
21 papers
ExaModels.jl: an Algebraic Modeling System for Nonlinear Programming on GPUs
Sungho Shin, Michel Schanen, François Pacaud +2
Large-scale nonlinear programs almost always exhibit partially separable and repetitive structure, yet most existing algebraic modeling systems do not take advantage of it. A nonli…
SKooP: Symmetric Koopman Predictions for Faster and More Generalizable Legged Robot Locomotion with Reinforcement Learning
Evelyn D'Elia, Weishu Zhan, Giulio Turrisi +5
The paper presents SKooP, a method that integrates morphological symmetries and a learned Koopman model via an autoencoder to provide privileged observations for reinforcement lear…
Mixture-of-Experts RL for Fault-Tolerant Legged Locomotion
Giulio Turrisi, Ozan Pali, Luca Oneto +1
Legged robots deployed in planetary exploration and other remote environments must maintain reliable locomotion despite actuator failures and challenging terrain conditions. Althou…
Guided Reinforcement Learning for Omnidirectional 3D Jumping in Quadruped Robots
Riccardo Bussola, Michele Focchi, Giulio Turrisi +2
Jumping poses a significant challenge for quadruped robots, despite being crucial for many operational scenarios. While optimisation methods exist for controlling such motions, the…
Morphologically Equivariant Flow Matching for Bimanual Mobile Manipulation
Max Siebenborn, Daniel Ordoñez Apraez, Sophie Lueth +4
Mobile manipulation requires coordinated control of high-dimensional, bimanual robots. Imitation learning methods have been broadly used to solve these robotic tasks, yet typically…
Proprioceptive Image: An Image Representation of Proprioceptive Data from Quadruped Robots for Contact Estimation Learning
Gabriel Fischer Abati, João Carlos Virgolino Soares, Giulio Turrisi +2
This paper presents a novel approach for representing proprioceptive time-series data from quadruped robots as structured two-dimensional images, enabling the use of convolutional…