14 citations · 50 across the 32 of their papers we have counts for
11 papers · 1 filter
Segmenting the Complex and Irregular in Two-Phase Flows: A Real-World Empirical Study with SAM2
Semanur Küçük, Cosimo Della Santina, Angeliki Laskari
Segmenting gas bubbles in multiphase flows is a critical yet unsolved challenge in numerous industrial settings, from metallurgical processing to maritime drag reduction. Tradition…
Symbolic Learning of Interpretable Reduced-Order Models for Jumping Quadruped Robots
Gioele Buriani, Jingyue Liu, Maximilian Stölzle +2
Reduced-order models are central to motion planning and control of quadruped robots, yet existing templates are often hand-crafted for a specific locomotion modality. This motivate…
Learning to Move in Rhythm: Task-Conditioned Motion Policies with Orbital Stability Guarantees
Maximilian Stölzle, T. Konstantin Rusch, Zach J. Patterson +5
Learning from demonstration provides a sample-efficient approach to acquiring complex behaviors, enabling robots to move robustly, compliantly, and with fluidity. In this context,…
A Survey on Soft Robot Adaptability: Implementations, Applications, and Prospects
Zixi Chen, Di Wu, Qinghua Guan +8
Soft robots, compared to rigid robots, possess inherent advantages, including higher degrees of freedom, compliance, and enhanced safety, which have contributed to their increasing…
Contact-Aware Safety in Soft Robots Using High-Order Control Barrier and Lyapunov Functions
Kiwan Wong, Maximilian Stölzle, Wei Xiao +3
Robots operating alongside people, particularly in sensitive scenarios such as aiding the elderly with daily tasks or collaborating with workers in manufacturing, must guarantee sa…
Soft yet Effective Robots via Holistic Co-Design
Maximilian Stölzle, Niccolò Pagliarani, Francesco Stella +6
Soft robots promise inherent safety via their material compliance for seamless interactions with humans or delicate environments. Despite progress, the field struggles to balance t…
TamedPUMA: safe and stable imitation learning with geometric fabrics
Saray Bakker, Rodrigo Pérez-Dattari, Cosimo Della Santina +2
Using the language of dynamical systems, Imitation learning (IL) provides an intuitive and effective way of teaching stable task-space motions to robots with goal convergence. Yet,…
Explosive Jumping with Rigid and Articulated Soft Quadrupeds via Example Guided Reinforcement Learning
Georgios Apostolides, Wei Pan, Jens Kober +2
Achieving controlled jumping behaviour for a quadruped robot is a challenging task, especially when introducing passive compliance in mechanical design. This study addresses this c…
SpikingSoft: A Spiking Neuron Controller for Bio-inspired Locomotion with Soft Snake Robots
Chuhan Zhang, Cong Wang, Wei Pan +1
Inspired by the dynamic coupling of moto-neurons and physical elasticity in animals, this work explores the possibility of generating locomotion gaits by utilizing physical oscilla…
From Action Labels to Sets: Rethinking Action Supervision for Imitation Learning from Corrective Feedback
Zhaoting Li, Rodrigo Pérez-Dattari, Robert Babuska +2
Behavior cloning (BC) optimizes policies by treating human demonstrations as pointwise action labels. While effective with accurate action labels, this formulation is brittle in pr…
Real-Time Generation of Near-Minimum-Energy Trajectories via Constraint-Informed Residual Learning
Domenico Dona', Giovanni Franzese, Cosimo Della Santina +2
Industrial robotics demands significant energy to operate, making energy-reduction methodologies increasingly important. Strategies for planning minimum-energy trajectories typical…