34 citations · 36 across the 2 of their papers we have counts for
4 papers · 1 filter
CERBERUS: Autonomous Legged and Aerial Robotic Exploration in the Tunnel and Urban Circuits of the DARPA Subterranean Challenge
Marco Tranzatto, Frank Mascarich, Lukas Bernreiter +38
Autonomous exploration of subterranean environments constitutes a major frontier for robotic systems as underground settings present key challenges that can render robot autonomy h…
Contact-Implicit Trajectory Optimization for Dynamic Object Manipulation
Jean-Pierre Sleiman, Jan Carius, Ruben Grandia +2
We present a reformulation of a contact-implicit optimization (CIO) approach that computes optimal trajectories for rigid-body systems in contact-rich settings. A hard-contact mode…
MPC-Net: A First Principles Guided Policy Search
Jan Carius, Farbod Farshidian, Marco Hutter
We present an Imitation Learning approach for the control of dynamical systems with a known model. Our policy search method is guided by solutions from MPC. Typical policy search m…
Locomotion Planning through a Hybrid Bayesian Trajectory Optimization
Tim Seyde, Jan Carius, Ruben Grandia +2
Locomotion planning for legged systems requires reasoning about suitable contact schedules. The contact sequence and timings constitute a hybrid dynamical system and prescribe a su…