From the 1 of 6 linked papers with an AI index.
6 papers
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…
Towards Terrain-Aware Safe Locomotion for Quadrupedal Robots Using Proprioceptive Sensing
Peiyu Yang, Jiatao Ding, Wei Pan +2
Achieving safe quadrupedal locomotion in real-world environments has attracted much attention in recent years. When walking over uneven terrain, achieving reliable estimation and r…
Explosive Jumping with Rigid and Articulated Soft Quadrupeds via Example Guided Reinforcement Learning
Georgios Apostolides, Wei Pan, Jens Kober +2
Achieving controlled jumping behaviour for a quadruped robot is a challenging task, especially when introducing passive compliance in mechanical design. This study addresses this c…
Versatile, Robust, and Explosive Locomotion with Rigid and Articulated Compliant Quadrupeds
Jiatao Ding, Peiyu Yang, Fabio Boekel +4
Achieving versatile and explosive motion with robustness against dynamic uncertainties is a challenging task. Introducing parallel compliance in quadrupedal design is deemed to enh…
SpikingSoft: A Spiking Neuron Controller for Bio-inspired Locomotion with Soft Snake Robots
Chuhan Zhang, Cong Wang, Wei Pan +1
Inspired by the dynamic coupling of moto-neurons and physical elasticity in animals, this work explores the possibility of generating locomotion gaits by utilizing physical oscilla…
NiSNN-A: Non-iterative Spiking Neural Networks with Attention with Application to Motor Imagery EEG Classification
Chuhan Zhang, Wei Pan, Cosimo Della Santina
Motor imagery, an important category in electroencephalogram (EEG) research, often intersects with scenarios demanding low energy consumption, such as portable medical devices and…