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Accelerated gradient descent for high frequency Model Predictive Control
Jianghan Zhang, Armand Jordana, Ludovic Righetti
The recent promises of Model Predictive Control in robotics have motivated the development of tailored second-order methods to solve optimal control problems efficiently. While tho…
SoloParkour: Constrained Reinforcement Learning for Visual Locomotion from Privileged Experience
Elliot Chane-Sane, Joseph Amigo, Thomas Flayols +2
Parkour poses a significant challenge for legged robots, requiring navigation through complex environments with agility and precision based on limited sensory inputs. In this work,…
iDb-RRT: Sampling-based Kinodynamic Motion Planning with Motion Primitives and Trajectory Optimization
Joaquim Ortiz-Haro, Wolfgang Hönig, Valentin N. Hartmann +2
Rapidly-exploring Random Trees (RRT) and its variations have emerged as a robust and efficient tool for finding collision-free paths in robotic systems. However, adding dynamic con…