3 papers
cs.RO2025
A Two Degrees-of-Freedom Floor-Based Robot for Transfer and Rehabilitation Applications
Ian Lalonde, Jeff Denis, Mathieu Lamy +3
The ability to accomplish a sit-to-stand (STS) motion is key to increase functional mobility and reduce rehospitalization risks. While raising aid (transfer) devices and partial bo…
cs.RO2025
Theoretical Closed-loop Stability Bounds for Dynamical System Coupled with Diffusion Policies
Gabriel Lauzier, Alexandre Girard, François Ferland
Diffusion Policy has shown great performance in robotic manipulation tasks under stochastic perturbations, due to its ability to model multimodal action distributions. Nonetheless,…
cs.LG2025
Zero-Shot Policy Transfer in Reinforcement Learning using Buckingham's Pi Theorem
Francisco Pascoa, Ian Lalonde, Alexandre Girard
Reinforcement learning (RL) policies often fail to generalize to new robots, tasks, or environments with different physical parameters, a challenge that limits their real-world app…