8 papers
KYON: Semi-Modular Wheel-Legged Quadruped With Agile Bimanual Capability
Luca Rossini, Arturo Laurenzi, Francesco Ruscelli +8
This paper presents KYON, a hybrid wheel-legged quadruped robot equipped with a bimanual upper body for loco-manipulation tasks. The platform features a semi-modular design with a…
Flow Matching on Symmetric Spaces
Francesco Ruscelli, Ferdinando Zanchetta, Rita Fioresi
We introduce a general framework for training flow matching models on Riemannian symmetric spaces, a large class of manifolds that includes the sphere, hyperbolic space and Grassma…
Flow matching on homogeneous spaces
Francesco Ruscelli
We propose a general framework to extend Flow Matching to homogeneous spaces, i.e. quotients of Lie groups. Our approach reformulates the problem as a flow matching task on the und…
RL-Augmented MPC for Non-Gaited Legged and Hybrid Locomotion
Andrea Patrizi, Carlo Rizzardo, Arturo Laurenzi +3
We propose a contact-explicit hierarchical architecture coupling Reinforcement Learning (RL) and Model Predictive Control (MPC), where a high-level RL agent provides gait and navig…
On Mañé's Critical Value for Tonelli Lagrangians on Half Lie-Groups
Levin Maier, Francesco Ruscelli
In this article, we introduce Tonelli Lagrangians on half-Lie groups equipped with a strong right-invariant Riemannian metric. These are right-invariant Lagrangians defined on the…
The Hopf--Rinow Theorem and Mañé's Critical Value for Magnetic Geodesics on Half Lie-Groups
Levin Maier, Francesco Ruscelli
In this article, we investigate \emph{right-invariant magnetic systems} on half-Lie groups, which consist of a strong right-invariant Riemannian metric and a right-invariant closed…