193 citations · 262 across the 13 of their papers we have counts for
13 papers
Cost Function Estimation Using Inverse Reinforcement Learning with Minimal Observations
Sarmad Mehrdad, Avadesh Meduri, Ludovic Righetti
We present an iterative inverse reinforcement learning algorithm to infer optimal cost functions in continuous spaces. Based on a popular maximum entropy criteria, our approach ite…
Diffusion-based learning of contact plans for agile locomotion
Victor Dhédin, Adithya Kumar Chinnakkonda Ravi, Armand Jordana +5
Legged robots have become capable of performing highly dynamic maneuvers in the past few years. However, agile locomotion in highly constrained environments such as stepping stones…
Risk-Sensitive Extended Kalman Filter
Armand Jordana, Avadesh Meduri, Etienne Arlaud +2
In robotics, designing robust algorithms in the face of estimation uncertainty is a challenging task. Indeed, controllers often do not consider the estimation uncertainty and only…
Visual-Inertial and Leg Odometry Fusion for Dynamic Locomotion
Victor Dhédin, Haolong Li, Shahram Khorshidi +8
Implementing dynamic locomotion behaviors on legged robots requires a high-quality state estimation module. Especially when the motion includes flight phases, state-of-the-art appr…
MPC with Sensor-Based Online Cost Adaptation
Avadesh Meduri, Huaijiang Zhu, Armand Jordana +1
Model predictive control is a powerful tool to generate complex motions for robots. However, it often requires solving non-convex problems online to produce rich behaviors, which i…
ContactNet: Online Multi-Contact Planning for Acyclic Legged Robot Locomotion
Angelo Bratta, Avadesh Meduri, Michele Focchi +2
In legged logomotion, online trajectory optimization techniques generally depend on heuristic-based contact planners in order to have low computation times and achieve high replann…
Efficient Object Manipulation Planning with Monte Carlo Tree Search
Huaijiang Zhu, Avadesh Meduri, Ludovic Righetti
This paper presents an efficient approach to object manipulation planning using Monte Carlo Tree Search (MCTS) to find contact sequences and an efficient ADMM-based trajectory opti…
ValueNetQP: Learned one-step optimal control for legged locomotion
Julian Viereck, Avadesh Meduri, Ludovic Righetti
Optimal control is a successful approach to generate motions for complex robots, in particular for legged locomotion. However, these techniques are often too slow to run in real ti…
BiConMP: A Nonlinear Model Predictive Control Framework for Whole Body Motion Planning
Avadesh Meduri, Paarth Shah, Julian Viereck +3
Online planning of whole-body motions for legged robots is challenging due to the inherent nonlinearity in the robot dynamics. In this work, we propose a nonlinear MPC framework, t…
Rapid Convex Optimization of Centroidal Dynamics using Block Coordinate Descent
Paarth Shah, Avadesh Meduri, Wolfgang Merkt +3
In this paper we explore the use of block coordinate descent (BCD) to optimize the centroidal momentum dynamics for dynamically consistent multi-contact behaviors. The centroidal d…
DeepQ Stepper: A framework for reactive dynamic walking on uneven terrain
Avadesh Meduri, Majid Khadiv, Ludovic Righetti
Reactive stepping and push recovery for biped robots is often restricted to flat terrains because of the difficulty in computing capture regions for nonlinear dynamic models. In th…
Efficient Multi-Contact Pattern Generation with Sequential Convex Approximations of the Centroidal Dynamics
Brahayam Ponton, Majid Khadiv, Avadesh Meduri +1
This paper investigates the problem of efficient computation of physically consistent multi-contact behaviors. Recent work showed that under mild assumptions, the problem could be…
An Open Torque-Controlled Modular Robot Architecture for Legged Locomotion Research
Felix Grimminger, Avadesh Meduri, Majid Khadiv +10
We present a new open-source torque-controlled legged robot system, with a low-cost and low-complexity actuator module at its core. It consists of a high-torque brushless DC motor…