254 citations · 441 across the 3 of their papers we have counts for
4 papers
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…
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…