18 papers
Mixture-of-Experts RL for Fault-Tolerant Legged Locomotion
Giulio Turrisi, Ozan Pali, Luca Oneto +1
Legged robots deployed in planetary exploration and other remote environments must maintain reliable locomotion despite actuator failures and challenging terrain conditions. Althou…
ZiMPedance: Impedance-Aware ZMP Modeling and Control for Payload Carrying with Quadruped Robots
Giovanni B. Dessy, Lorenzo Amatucci, Victor Barasuol +1
Load transportation with quadruped robots is strongly affected by the dynamics of the physical interface between the robot and the load. Passive spring-based arms reduce weight and…
Guided Reinforcement Learning for Omnidirectional 3D Jumping in Quadruped Robots
Riccardo Bussola, Michele Focchi, Giulio Turrisi +2
Jumping poses a significant challenge for quadruped robots, despite being crucial for many operational scenarios. While optimisation methods exist for controlling such motions, the…
Morphologically Equivariant Flow Matching for Bimanual Mobile Manipulation
Max Siebenborn, Daniel Ordoñez Apraez, Sophie Lueth +4
Mobile manipulation requires coordinated control of high-dimensional, bimanual robots. Imitation learning methods have been broadly used to solve these robotic tasks, yet typically…
A Proprioceptive-Only Benchmark for Quadruped State Estimation: ATE, RPE, and Runtime Trade-offs Between Filters and Smoothers
Ylenia Nisticò, João Carlos Virgolino Soares, Joan Solà +1
We compare three state-of-the-art proprioceptive state estimators for quadruped robots: MUSE [1], the Invariant Extended Kalman Filter (IEKF) [2], and the Invariant Smoother (IS) […
Proprioceptive Image: An Image Representation of Proprioceptive Data from Quadruped Robots for Contact Estimation Learning
Gabriel Fischer Abati, João Carlos Virgolino Soares, Giulio Turrisi +2
This paper presents a novel approach for representing proprioceptive time-series data from quadruped robots as structured two-dimensional images, enabling the use of convolutional…