3 citations · 3 across the 9 of their papers we have counts for
11 papers
Direct Dynamic Retargeting for Humanoid Imitation Learning from Videos
Constant Roux, Ludovic De Matteïs, Armand Jordana +4
Imitation Learning from monocular video demonstrations provides a scalable approach for teaching complex skills to humanoid robots. However, translating human motion to humanoids r…
Latent Conditioned Loco-Manipulation Using Motion Priors
Maciej Stępień, Rafael Kourdis, Constant Roux +1
Although humanoid and quadruped robots provide a wide range of capabilities, current control methods, such as Deep Reinforcement Learning, focus mainly on single skills. This appro…
Constrained Reinforcement Learning for Unstable Point-Feet Bipedal Locomotion Applied to the Bolt Robot
Constant Roux, Elliot Chane-Sane, Ludovic De Matteïs +4
Bipedal locomotion is a key challenge in robotics, particularly for robots like Bolt, which have a point-foot design. This study explores the control of such underactuated robots u…
Reinforcement Learning from Wild Animal Videos
Elliot Chane-Sane, Constant Roux, Olivier Stasse +1
We propose to learn legged robot locomotion skills by watching thousands of wild animal videos from the internet, such as those featured in nature documentaries. Indeed, such video…
Whole-body MPC and sensitivity analysis of a real time foot step sequencer for a biped robot Bolt
Constant Roux, Côme Perrot, Olivier Stasse
This paper presents a novel controller for the bipedal robot Bolt. Our approach leverages a whole-body model predictive controller in conjunction with a footstep sequencer to achie…
NAS: N-step computation of All Solutions to the footstep planning problem
Jiayi Wang, Saeid Samadi, Hefan Wang +4
How many ways are there to climb a staircase in a given number of steps? Infinitely many, if we focus on the continuous aspect of the problem. A finite, possibly large number if we…
CaT: Constraints as Terminations for Legged Locomotion Reinforcement Learning
Elliot Chane-Sane, Pierre-Alexandre Leziart, Thomas Flayols +3
Deep Reinforcement Learning (RL) has demonstrated impressive results in solving complex robotic tasks such as quadruped locomotion. Yet, current solvers fail to produce efficient p…
Torque Controlled Locomotion of a Biped Robot with Link Flexibility
Nahuel A Villa, Pierre Fernbach, Maximilien Naveau +4
When a big and heavy robot moves, it exerts large forces on the environment and on its own structure, its angular momentum can varysubstantially, and even the robot's structure can…
Design, analysis and control of the series-parallel hybrid RH5 humanoid robot
Julian Esser, Shivesh Kumar, Heiner Peters +5
Last decades of humanoid research has shown that humanoids developed for high dynamic performance require a stiff structure and optimal distribution of mass--inertial properties. H…
Motion Planning in Irreducible Path Spaces
Andreas Orthey, Olivier Roussel, Olivier Stasse +1
The motion of a mechanical system can be defined as a path through its configuration space. Computing such a path has a computational complexity scaling exponentially with the dime…
How do walkers avoid a mobile robot crossing their way?
Christian Vassallo, Anne-Hélène Olivier, Philippe Souères +3
Robots and Humans have to share the same environment more and more often. In the aim of steering robots in a safe and convenient manner among humans it is required to understand ho…