2 citations · 3 across the 8 of their papers we have counts for
8 papers · 1 filter
Constraint-Aware Reinforcement Learning via Adaptive Action Scaling
Murad Dawood, Usama Ahmed Siddiquie, Shahram Khorshidi +1
Safe reinforcement learning (RL) seeks to mitigate unsafe behaviors that arise from exploration during training by reducing constraint violations while maintaining task performance…
End-to-End Multi-Task Policy Learning from NMPC for Quadruped Locomotion
Anudeep Sajja, Shahram Khorshidi, Sebastian Houben +1
Quadruped robots excel in traversing complex, unstructured environments where wheeled robots often fail. However, enabling efficient and adaptable locomotion remains challenging du…
DogLegs: Robust Proprioceptive State Estimation for Legged Robots Using Multiple Leg-Mounted IMUs
Yibin Wu, Jian Kuang, Shahram Khorshidi +4
Robust and accurate proprioceptive state estimation of the main body is crucial for legged robots to execute tasks in extreme environments where exteroceptive sensors, such as LiDA…
Physically-Consistent Parameter Identification of Robots in Contact
Shahram Khorshidi, Murad Dawood, Benno Nederkorn +2
Accurate inertial parameter identification is crucial for the simulation and control of robots encountering intermittent contact with the environment. Classically, robots' inertial…
Centroidal State Estimation based on the Koopman Embedding for Dynamic Legged Locomotion
Shahram Khorshidi, Murad Dawood, Maren Bennewitz
In this paper, we introduce a novel approach to centroidal state estimation, which plays a crucial role in predictive model-based control strategies for dynamic legged locomotion.…
Perception for Humanoid Robots
Arindam Roychoudhury, Shahram Khorshidi, Subham Agrawal +1
Purpose of Review: The field of humanoid robotics, perception plays a fundamental role in enabling robots to interact seamlessly with humans and their surroundings, leading to impr…
Visual-Inertial and Leg Odometry Fusion for Dynamic Locomotion
Victor Dhédin, Haolong Li, Shahram Khorshidi +8
Implementing dynamic locomotion behaviors on legged robots requires a high-quality state estimation module. Especially when the motion includes flight phases, state-of-the-art appr…
On the Use of Torque Measurement in Centroidal State Estimation
Shahram Khorshidi, Ahmad Gazar, Nicholas Rotella +4
State of the art legged robots are either capable of measuring torque at the output of their drive systems, or have transparent drive systems which enable the computation of joint…