4 citations · 10 across the 13 of their papers we have counts for
4 papers · 1 filter
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…
Cartan flow matching
Francesco Ruscelli, Ferdinando Zanchetta, Rita Fioresi
We introduce Cartan flow matching, a general framework for training flow matching models on Riemannian symmetric spaces, i.e. Riemannian manifolds with the property that at any poi…
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…