5 papers · 1 filter
WOLF-VLA: Whole-Body Humanoid Optimal Locomotion Framework for Vision-Language-Action Learning
Melya Boukheddimi, Omar Adjali, Daniel Sontag +1
Vision-Language-Action (VLA) models have recently demonstrated strong generalization in robotic manipulation, yet their applicability to whole-body, contact-rich humanoid locomotio…
Evolutionary Continuous Adaptive RL-Powered Co-Design for Humanoid Chin-Up Performance
Tianyi Jin, Melya Boukheddimi, Rohit Kumar +2
Humanoid robots have seen significant advancements in both design and control, with a growing emphasis on integrating these aspects to enhance overall performance. Traditionally, r…
Unlocking the Potential of Soft Actor-Critic for Imitation Learning
Nayari Marie Lessa, Melya Boukheddimi, Frank Kirchner
Learning-based methods have enabled robots to acquire bio-inspired movements with increasing levels of naturalness and adaptability. Among these, Imitation Learning (IL) has proven…
Parallel Transmission Aware Co-Design: Enhancing Manipulator Performance Through Actuation-Space Optimization
Rohit Kumar, Melya Boukheddimi, Dennis Mronga +2
In robotics, structural design and behavior optimization have long been considered separate processes, resulting in the development of systems with limited capabilities. Recently,…
Sitting, Standing and Walking Control of the Series-Parallel Hybrid Recupera-Reha Exoskeleton
Ibrahim Tijjani, Rohit Kumar, Melya Boukheddimi +3
This paper presents advancements in the functionalities of the Recupera-Reha lower extremity exoskeleton robot. The exoskeleton features a series-parallel hybrid design characteriz…