5 papers
Learning Perceptive Platform Adaptive Locomotion Controllers for Quadrupedal Robots
David Rytz, Kim Tien Ly, Ioannis Havoutis
Universal quadrupedal locomotion remains limited by the difficulty of integrating perception across diverse robot morphologies. State-of-the-art controllers rely on single-robot tr…
Sampling Strategies for Robust Universal Quadrupedal Locomotion Policies
David Rytz, Kim Tien Ly, Ioannis Havoutis
This work focuses on sampling strategies of configuration variations for generating robust universal locomotion policies for quadrupedal robots. We investigate the effects of sampl…
InteLiPlan: An Interactive Lightweight LLM-Based Planner for Domestic Robot Autonomy
Kim Tien Ly, Kai Lu, Ioannis Havoutis
We introduce an interactive LLM-based framework designed to enhance the autonomy and robustness of domestic robots, targeting embodied intelligence. Our approach reduces reliance o…
Vision-Language-Policy Model for Dynamic Robot Task Planning
Jin Wang, Kim Tien Ly, Jacques Cloete +3
Bridging the gap between natural language commands and autonomous execution in unstructured environments remains an open challenge for robotics. This requires robots to perceive an…
RAKOMO: Reachability-Aware K-Order Markov Path Optimization for Quadrupedal Loco-Manipulation
Mattia Risiglione, Abdelrahman Abdalla, Victor Barasuol +3
Legged manipulators, such as quadrupeds equipped with robotic arms, require motion planning techniques that account for their complex kinematic constraints in order to perform mani…