4 citations · 7 across the 12 of their papers we have counts for
12 papers
Evaluation of an Actuated Spine in Agile Quadruped Locomotion
Nico Bohlinger, Piotr Kicki, Davide Tateo +2
The spine plays a crucial role in the dynamic locomotion of quadrupedal animals, improving the stability, speed, and efficiency of their gait, especially for fast-paced and highly…
Beyond Constant Parameters: Hyper Prediction Models and HyperMPC
Jan Węgrzynowski, Piotr Kicki, Grzegorz Czechmanowski +2
Model Predictive Control (MPC) is among the most widely adopted and reliable methods for robot control, relying critically on an accurate dynamics model. However, existing dynamics…
Robust Localization, Mapping, and Navigation for Quadruped Robots
Dyuman Aditya, Junning Huang, Nico Bohlinger +5
Quadruped robots are currently a widespread platform for robotics research, thanks to powerful Reinforcement Learning controllers and the availability of cheap and robust commercia…
On learning racing policies with reinforcement learning
Grzegorz Czechmanowski, Jan Węgrzynowski, Piotr Kicki +1
Fully autonomous vehicles promise enhanced safety and efficiency. However, ensuring reliable operation in challenging corner cases requires control algorithms capable of performing…
Motion Planning Diffusion: Learning and Adapting Robot Motion Planning with Diffusion Models
J. Carvalho, A. Le, P. Kicki +2
The performance of optimization-based robot motion planning algorithms is highly dependent on the initial solutions, commonly obtained by running a sampling-based planner to obtain…
One Policy to Run Them All: an End-to-end Learning Approach to Multi-Embodiment Locomotion
Nico Bohlinger, Grzegorz Czechmanowski, Maciej Krupka +4
Deep Reinforcement Learning techniques are achieving state-of-the-art results in robust legged locomotion. While there exists a wide variety of legged platforms such as quadruped,…
Learning dynamics models for velocity estimation in autonomous racing
Jan Węgrzynowski, Grzegorz Czechmanowski, Piotr Kicki +1
Velocity estimation is of great importance in autonomous racing. Still, existing solutions are characterized by limited accuracy, especially in the case of aggressive driving or po…
Bridging the gap between Learning-to-plan, Motion Primitives and Safe Reinforcement Learning
Piotr Kicki, Davide Tateo, Puze Liu +3
Trajectory planning under kinodynamic constraints is fundamental for advanced robotics applications that require dexterous, reactive, and rapid skills in complex environments. Thes…
Learning Quasi-Static 3D Models of Markerless Deformable Linear Objects for Bimanual Robotic Manipulation
Piotr Kicki, Michał Bidziński, Krzysztof Walas
The robotic manipulation of Deformable Linear Objects (DLOs) is a vital and challenging task that is important in many practical applications. Classical model-based approaches to t…
DLOFTBs -- Fast Tracking of Deformable Linear Objects with B-splines
Piotr Kicki, Amadeusz Szymko, Krzysztof Walas
While manipulating rigid objects is an extensively explored research topic, deformable linear object (DLO) manipulation seems significantly underdeveloped. A potential reason for t…
Fast Kinodynamic Planning on the Constraint Manifold with Deep Neural Networks
Piotr Kicki, Puze Liu, Davide Tateo +4
Motion planning is a mature area of research in robotics with many well-established methods based on optimization or sampling the state space, suitable for solving kinematic motion…
Gaining a Sense of Touch. Physical Parameters Estimation using a Soft Gripper and Neural Networks
Michał Bednarek, Piotr Kicki, Jakub Bednarek +1
Soft grippers are gaining significant attention in the manipulation of elastic objects, where it is required to handle soft and unstructured objects which are vulnerable to deforma…