4 papers
A Decade of Learning-Based Control: From Theoretic Foundations to Practical Deployment
Angela P. Schoellig, Matthias A. Müller, Sebastian Trimpe +8
Motivated by ten years of Learning-Based Control Invited Sessions at the IEEE Conference on Decision and Control (CDC), this tutorial paper reviews key advances at the intersection…
Learning Where it Matters: Autonomous Data Collection and Offline Reinforcement Learning for Local Contact-Rich Manipulation
Oliver Hausdörfer, Linus Schwarz, Gabor Marko +7
Learned policies trained end-to-end on large datasets often remain brittle in high-precision contact-rich tasks. Further, they typically require large amounts of manually collected…
LoComposition: Terrain-Adaptive Energy-Efficient Quadruped Locomotion without Gait Priors
Loukas Kordos, Leonard T. Franz, Simon Rappenecker +4
Learning-based quadrupedal locomotion typically relies on complex reward formulations that entangle task specification, operational limits, gait preference, and terrain adaptation…
CRISP -- Compliant ROS2 Controllers for Learning-Based Manipulation Policies and Teleoperation
Daniel San José Pro, Oliver Hausdörfer, Ralf Römer +3
Learning-based controllers, such as diffusion policies and vision-language action models, often generate low-frequency or discontinuous robot state changes. Achieving smooth refere…