2 papers
cs.RO2025
PGTT: Phase-Guided Terrain Traversal for Perceptive Legged Locomotion
Alexandros Ntagkas, Chairi Kiourt, Konstantinos Chatzilygeroudis
State-of-the-art perceptive Reinforcement Learning controllers for legged robots typically either (i) impose oscillator-or IK-based gait priors that constrain the action space, bia…
cs.RO2025
Learning and Optimization with 3D Orientations
Alexandros Ntagkas, Constantinos Tsakonas, Chairi Kiourt +1
There exist numerous ways of representing 3D orientations. Each representation has both limitations and unique features. Choosing the best representation for one task is often a di…