4 papers
Direct Dynamic Retargeting for Humanoid Imitation Learning from Videos
Constant Roux, Ludovic De Matteïs, Armand Jordana +4
Imitation Learning from monocular video demonstrations provides a scalable approach for teaching complex skills to humanoid robots. However, translating human motion to humanoids r…
Constrained Reinforcement Learning for Unstable Point-Feet Bipedal Locomotion Applied to the Bolt Robot
Constant Roux, Elliot Chane-Sane, Ludovic De Matteïs +4
Bipedal locomotion is a key challenge in robotics, particularly for robots like Bolt, which have a point-foot design. This study explores the control of such underactuated robots u…
Extended URDF: Accounting for parallel mechanism in robot description
Virgile Batto, Ludovic de Matteis, Nicolas Mansard
Robotic designs played an important role in recent advances by providing powerful robots with complex mechanics. Many recent systems rely on parallel actuation to provide lighter l…
Optimal Control of Walkers with Parallel Actuation
Ludovic de Matteis, Virgile Batto, Justin Carpentier +1
Legged robots with closed-loop kinematic chains are increasingly prevalent due to their increased mobility and efficiency. Yet, most motion generation methods rely on serial-chain…