254 citations · 448 across the 14 of their papers we have counts for
17 papers
Solving a Giant Rubik's Cube with a Quadruped Robot
Lukas Amiet, Gabriel Sánchez-Blanco Repgen, Mayank Mittal +4
Pedipulating a freestanding articulated object requires controlling its pose and internal configuration while maintaining balance. We demonstrate this capability by autonomously so…
Bidirectional Voronoi-biased Exploration Curriculum for Reinforcement Learning
Juri Pfammatter, Kaixian Qu, Clemens Schwarke +2
Long-horizon tasks with sparse rewards pose an exploration bottleneck for goal-conditioned reinforcement learning: a policy started from the initial state rarely reaches the goal a…
Reinforcement Learning-Based Control for an Inline Skating Humanoid Robot
Ethan Marot, Thomas Bi, Clemens Schwarke +3
As humanoid robots become increasingly dynamic, coupling them with reinforcement learning offers a promising approach to solving the complex, underactuated mechanics of passive inl…
An Efficient Beam Search Algorithm for Active Perception in Mobile Robotics
Kaixian Qu, Han Wang, Victor Klemm +2
Active perception is a fundamental problem in autonomous robotics in which the robot must decide where to move and what to sense in order to obtain the most informative observation…
Agile and Generalized Legged Locomotion via Attention-Based Neural Map Encoding
Chong Zhang, Victor Klemm, Fan Yang +1
Achieving agile and generalized legged locomotion across terrains requires tight integration of perception and control, especially under occlusions and sparse footholds. Existing m…
FOCI: Trajectory Optimization on Gaussian Splats
Mario Gomez Andreu, Maximum Wilder-Smith, Victor Klemm +3
3D Gaussian Splatting (3DGS) has recently gained popularity as a faster alternative to Neural Radiance Fields (NeRFs) in 3D reconstruction and view synthesis methods. Leveraging th…
LEVA: A high-mobility logistic vehicle with legged suspension
Marco Arnold, Lukas Hildebrandt, Kaspar Janssen +15
The autonomous transportation of materials over challenging terrain is a challenge with major economic implications and remains unsolved. This paper introduces LEVA, a high-payload…
DiffSim2Real: Deploying Quadrupedal Locomotion Policies Purely Trained in Differentiable Simulation
Joshua Bagajo, Clemens Schwarke, Victor Klemm +5
Differentiable simulators provide analytic gradients, enabling more sample-efficient learning algorithms and paving the way for data intensive learning tasks such as learning from…
Residual Policy Learning for Perceptive Quadruped Control Using Differentiable Simulation
Jing Yuan Luo, Yunlong Song, Victor Klemm +3
First-order Policy Gradient (FoPG) algorithms such as Backpropagation through Time and Analytical Policy Gradients leverage local simulation physics to accelerate policy search, si…
MARLadona -- Towards Cooperative Team Play Using Multi-Agent Reinforcement Learning
Zichong Li, Filip Bjelonic, Victor Klemm +1
Robot soccer, in its full complexity, poses an unsolved research challenge. Current solutions heavily rely on engineered heuristic strategies, which lack robustness and adaptabilit…
Learning Deployable Locomotion Control via Differentiable Simulation
Clemens Schwarke, Victor Klemm, Joshua Bagajo +4
Differentiable simulators promise to improve sample efficiency in robot learning by providing analytic gradients of the system dynamics. Yet, their application to contact-rich task…
Symmetry Considerations for Learning Task Symmetric Robot Policies
Mayank Mittal, Nikita Rudin, Victor Klemm +2
Symmetry is a fundamental aspect of many real-world robotic tasks. However, current deep reinforcement learning (DRL) approaches can seldom harness and exploit symmetry effectively…
Reinforcement Learning for Blind Stair Climbing with Legged and Wheeled-Legged Robots
Simon Chamorro, Victor Klemm, Miguel de la Iglesia Valls +2
In recent years, legged and wheeled-legged robots have gained prominence for tasks in environments predominantly created for humans across various domains. One significant challeng…
Evaluation of Constrained Reinforcement Learning Algorithms for Legged Locomotion
Joonho Lee, Lukas Schroth, Victor Klemm +3
Shifting from traditional control strategies to Deep Reinforcement Learning (RL) for legged robots poses inherent challenges, especially when addressing real-world physical constra…
Advanced Skills through Multiple Adversarial Motion Priors in Reinforcement Learning
Eric Vollenweider, Marko Bjelonic, Victor Klemm +3
In recent years, reinforcement learning (RL) has shown outstanding performance for locomotion control of highly articulated robotic systems. Such approaches typically involve tedio…
Ascento: A Two-Wheeled Jumping Robot
Victor Klemm, Alessandro Morra, Ciro Salzmann +10
Applications of mobile ground robots demand high speed and agility while navigating in complex indoor environments. These present an ongoing challenge in mobile robotics. A system…
LQR-Assisted Whole-Body Control of a Wheeled Bipedal Robot with Kinematic Loops
Victor Klemm, Alessandro Morra, Lionel Gulich +5
We present a hierarchical whole-body controller leveraging the full rigid body dynamics of the wheeled bipedal robot Ascento. We derive closed-form expressions for the dynamics of…