6 papers
Evaluation of an Actuated Spine in Agile Quadruped Locomotion
Nico Bohlinger, Piotr Kicki, Davide Tateo +2
The spine plays a crucial role in the dynamic locomotion of quadrupedal animals, improving the stability, speed, and efficiency of their gait, especially for fast-paced and highly…
One Policy to Run Them All: an End-to-end Learning Approach to Multi-Embodiment Locomotion
Nico Bohlinger, Grzegorz Czechmanowski, Maciej Krupka +4
Deep Reinforcement Learning techniques are achieving state-of-the-art results in robust legged locomotion. While there exists a wide variety of legged platforms such as quadruped,…
Motion Planning Diffusion: Learning and Adapting Robot Motion Planning with Diffusion Models
J. Carvalho, A. Le, P. Kicki +2
The performance of optimization-based robot motion planning algorithms is highly dependent on the initial solutions, commonly obtained by running a sampling-based planner to obtain…
On learning racing policies with reinforcement learning
Grzegorz Czechmanowski, Jan WÄgrzynowski, Piotr Kicki +1
Fully autonomous vehicles promise enhanced safety and efficiency. However, ensuring reliable operation in challenging corner cases requires control algorithms capable of performing…
Beyond Constant Parameters: Hyper Prediction Models and HyperMPC
Jan WÄgrzynowski, Piotr Kicki, Grzegorz Czechmanowski +2
Model Predictive Control (MPC) is among the most widely adopted and reliable methods for robot control, relying critically on an accurate dynamics model. However, existing dynamics…
Robust Localization, Mapping, and Navigation for Quadruped Robots
Dyuman Aditya, Junning Huang, Nico Bohlinger +5
Quadruped robots are currently a widespread platform for robotics research, thanks to powerful Reinforcement Learning controllers and the availability of cheap and robust commercia…