5 papers
Let the Dynamics Flow: Stable Flow Matching Dynamical Systems
Rodrigo Pérez-Dattari, Francisco Leiva, Andrea Testa +3
Flow matching has recently emerged as a powerful approach for imitation learning, enabling scalable, expressive, and multimodal motion policies. However, when modeling these polici…
PEBRE: An Open-Hardware Compute and Perception Add-On for the Pepper Robot
Malte Kuhlmann, Ignacio Bugueno-Cordova, Emil Alms +2
This paper presents the design, development, and experimental verification of PEBRE, an open-hardware add-on for fast software development on the Pepper Robot. Our project enhances…
Sem-NaVAE: Semantically-Guided Outdoor Mapless Navigation via Generative Trajectory Priors
Gonzalo OlguÃn, Javier Ruiz-del-Solar
This work presents a mapless navigation approach for outdoor applications. It combines the exploratory capacity of conditional variational autoencoders (CVAEs) to generate trajecto…
Data-driven control of hydraulic impact hammers under strict operational and control constraints
Francisco Leiva, Claudio Canales, Michelle Valenzuela +1
This paper presents a data-driven methodology for the control of static hydraulic impact hammers, also known as rock breakers, which are commonly used in the mining industry. The t…
Human-Robot Navigation using Event-based Cameras and Reinforcement Learning
Ignacio Bugueno-Cordova, Javier Ruiz-del-Solar, Rodrigo Verschae
This work introduces a robot navigation controller that combines event cameras and other sensors with reinforcement learning to enable real-time human-centered navigation and obsta…