20 citations · 85 across the 21 of their papers we have counts for
6 papers · 1 filter
From Tabletop to Walking Bot: Deploying a VLA Model on a Legged Manipulator Robot
Giovanni Minelli, Antonio Langella, Giovanni B. Dessy +4
Vision-language-action (VLA) models are typically pretrained on broad, diverse datasets and subsequently fine-tuned on a comparatively small dataset tailored to a specific target r…
Gait-Dependent Effects on Quadruped Locomotion for Load-Carrying using Passive Mechanism
Giovanni B. Dessy, Claudio Semini, Victor Barasuol
Passive mechanical interfaces offer a lightweight alternative to actuated manipulators for quadruped payload carrying, but their impedance directly couples the payload dynamics wit…
Mixture-of-Experts RL for Fault-Tolerant Legged Locomotion
Giulio Turrisi, Ozan Pali, Luca Oneto +1
Legged robots deployed in planetary exploration and other remote environments must maintain reliable locomotion despite actuator failures and challenging terrain conditions. Althou…
ZiMPedance: Impedance-Aware ZMP Modeling and Control for Payload Carrying with Quadruped Robots
Giovanni B. Dessy, Lorenzo Amatucci, Victor Barasuol +1
Load transportation with quadruped robots is strongly affected by the dynamics of the physical interface between the robot and the load. Passive spring-based arms provide a lightwe…
Morphologically Equivariant Flow Matching for Bimanual Mobile Manipulation
Max Siebenborn, Daniel Ordoñez Apraez, Sophie Lueth +4
Mobile manipulation requires coordinated control of high-dimensional, bimanual robots. Imitation learning methods have been broadly used to solve these robotic tasks, yet typically…
A Proprioceptive-Only Benchmark for Quadruped State Estimation: ATE, RPE, and Runtime Trade-offs Between Filters and Smoothers
Ylenia Nisticò, João Carlos Virgolino Soares, Joan Solà +1
We compare three state-of-the-art proprioceptive state estimators for quadruped robots: MUSE [1], the Invariant Extended Kalman Filter (IEKF) [2], and the Invariant Smoother (IS) […