156 citations · 203 across the 12 of their papers we have counts for
5 papers · 1 filter
GGraph: A GPU-Accelerated Library for Graph-Based Robot Deployment and Learning
Yash Rampuria, Rohan Garg, Daniele Gammelli +1
Autonomous mobile robots require spatial representations that capture geometry and semantics while staying sparse enough for planning in large, unknown environments. Graphs provide…
Filter-Aware Fine-Tuning for Safe Humanoid Whole-Body Tracking
Pranit Mohnot, Christian Helten, Daniele Gammelli +1
Safe whole-body motion is essential for deploying humanoid robots in unstructured environments. Modern humanoid control commonly separates reference specification from execution, w…
Principles of Robot Autonomy
Daniele Gammelli, Joseph Lorenzetti, Katie Luo +2
Autonomous robots are moving rapidly from research labs into everyday life - on roads, in the air, in warehouses, and in space. Robot autonomy is no longer solely an academic pursu…
Semantic Constraint Synthesis for Adaptive Trajectory Optimization via Large Language Models
Eleanor Brosius, Yuji Takubo, Daniele Gammelli +2
Trajectory optimization is a critical component for enabling safe and reliable autonomous operations in space exploration. As space missions increase in frequency, complexity, and…
Graph Neural Model Predictive Control for High-Dimensional Systems
Patrick Benito Eberhard, Luis Pabon, Daniele Gammelli +5
The control of high-dimensional systems, such as soft robots, requires models that faithfully capture complex dynamics while remaining computationally tractable. This work presents…