3 papers
cs.RO2026
Adapting Neural Robot Dynamics on the Fly for Predictive Control
Abdullah Altawaitan, Nikolay Atanasov
Accurate dynamics models are critical for the design of predictive controller for autonomous mobile robots. Physics-based models are often too simple to capture relevant real-world…
cs.RO2025
Learned IMU Bias Prediction for Invariant Visual Inertial Odometry
Abdullah Altawaitan, Jason Stanley, Sambaran Ghosal +2
Autonomous mobile robots operating in novel environments depend critically on accurate state estimation, often utilizing visual and inertial measurements. Recent work has shown tha…
cs.RO2024
Variable-Frequency Model Learning and Predictive Control for Jumping Maneuvers on Legged Robots
Chuong Nguyen, Abdullah Altawaitan, Thai Duong +2
Achieving both target accuracy and robustness in dynamic maneuvers with long flight phases, such as high or long jumps, has been a significant challenge for legged robots. To addre…