5 papers
Differentiable Environment-Trajectory Co-Optimization for Safe Multi-Agent Navigation
Zhan Gao, Gabriele Fadini, Stelian Coros +1
The environment plays a critical role in multi-agent navigation by imposing spatial constraints, rules, and limitations that agents must navigate around. Traditional approaches tre…
Whole-Body Inverse Dynamics MPC for Legged Loco-Manipulation
Lukas Molnar, Jin Cheng, Gabriele Fadini +3
Loco-manipulation demands coordinated whole-body motion to manipulate objects effectively while maintaining locomotion stability, presenting significant challenges for both plannin…
RAMBO: RL-Augmented Model-Based Whole-Body Control for Loco-Manipulation
Jin Cheng, Dongho Kang, Gabriele Fadini +2
Loco-manipulation, physical interaction of various objects that is concurrently coordinated with locomotion, remains a major challenge for legged robots due to the need for both pr…
Enhancing Robotic System Robustness via Lyapunov Exponent-Based Optimization
G. Fadini, S. Coros
We present a novel approach to quantifying and optimizing stability in robotic systems based on the Lyapunov exponents addressing an open challenge in the field of robot analysis,…
Improving generalization of robot locomotion policies via Sharpness-Aware Reinforcement Learning
Severin Bochem, Eduardo Gonzalez-Sanchez, Yves Bicker +1
Reinforcement learning often requires extensive training data. Simulation-to-real transfer offers a promising approach to address this challenge in robotics. While differentiable s…