3 papers
cs.RO2025
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…
cs.RO2024
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.…
eess.SY2023
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…