24 citations · 24 across the 7 of their papers we have counts for
3 papers · 1 filter
Leveraging Forward Model Prediction Error for Learning Control
Sarah Bechtle, Bilal Hammoud, Akshara Rai +2
Learning for model based control can be sample-efficient and generalize well, however successfully learning models and controllers that represent the problem at hand can be challen…
Impedance Optimization for Uncertain Contact Interactions Through Risk Sensitive Optimal Control
Bilal Hammoud, Majid Khadiv, Ludovic Righetti
This paper addresses the problem of computing optimal impedance schedules for legged locomotion tasks involving complex contact interactions. We formulate the problem of impedance…
TriFinger: An Open-Source Robot for Learning Dexterity
Manuel Wüthrich, Felix Widmaier, Felix Grimminger +12
Dexterous object manipulation remains an open problem in robotics, despite the rapid progress in machine learning during the past decade. We argue that a hindrance is the high cost…