4 citations · 5 across the 3 of their papers we have counts for
3 papers · 1 filter
Learning Fault-Tolerant Locomotion with Adaptive Gait Timing
Giovanbattista Gravina, Luca Rossini, Carlo Rizzardo +2
Hardware failures require legged robots to rapidly reorganize coordination and gait timing to maintain stability and mobility. This is particularly challenging for larger quadruped…
RL-Augmented MPC for Non-Gaited Legged and Hybrid Locomotion
Andrea Patrizi, Carlo Rizzardo, Arturo Laurenzi +3
We propose a contact-explicit hierarchical architecture coupling Reinforcement Learning (RL) and Model Predictive Control (MPC), where a high-level RL agent provides gait and navig…
The Importance and the Limitations of Sim2Real for Robotic Manipulation in Precision Agriculture
Carlo Rizzardo, Sunny Katyara, Miguel Fernandes +1
In recent years Sim2Real approaches have brought great results to robotics. Techniques such as model-based learning or domain randomization can help overcome the gap between simula…