7 citations · 7 across the 4 of their papers we have counts for
4 papers
Collaborative Loco-Manipulation for Pick-and-Place Tasks with Dynamic Reward Curriculum
Tianxu An, Flavio De Vincenti, Yuntao Ma +2
We present a hierarchical RL pipeline for training one-armed legged robots to perform pick-and-place (P&P) tasks end-to-end -- from approaching the payload to releasing it at a tar…
Solving Multi-Entity Robotic Problems Using Permutation Invariant Neural Networks
Tianxu An, Joonho Lee, Marko Bjelonic +2
Challenges in real-world robotic applications often stem from managing multiple, dynamically varying entities such as neighboring robots, manipulable objects, and navigation goals.…
Ungar -- A C++ Framework for Real-Time Optimal Control Using Template Metaprogramming
Flavio De Vincenti, Stelian Coros
We present Ungar, an open-source library to aid the implementation of high-dimensional optimal control problems (OCPs). We adopt modern template metaprogramming techniques to enabl…
Nonlinear Model Predictive Control for Quadrupedal Locomotion Using Second-Order Sensitivity Analysis
Dongho Kang, Flavio De Vincenti, Stelian Coros
We present a versatile nonlinear model predictive control (NMPC) formulation for quadrupedal locomotion. Our formulation jointly optimizes a base trajectory and a set of footholds…