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cs.RO2025
Multi-critic Learning for Whole-body End-effector Twist Tracking
Aravind Elanjimattathil Vijayan, Andrei Cramariuc, Mattia Risiglione +2
Learning whole-body control for locomotion and arm motions in a single policy has challenges, as the two tasks have conflicting goals. For instance, efficient locomotion typically…
cs.RO2025
RAKOMO: Reachability-Aware K-Order Markov Path Optimization for Quadrupedal Loco-Manipulation
Mattia Risiglione, Abdelrahman Abdalla, Victor Barasuol +3
Legged manipulators, such as quadrupeds equipped with robotic arms, require motion planning techniques that account for their complex kinematic constraints in order to perform mani…
cs.RO2023
R-LGP: A Reachability-guided Logic-geometric Programming Framework for Optimal Task and Motion Planning on Mobile Manipulators
Kim Tien Ly, Valeriy Semenov, Mattia Risiglione +2
This paper presents an optimization-based solution to task and motion planning (TAMP) on mobile manipulators. Logic-geometric programming (LGP) has shown promising capabilities for…