3 papers
cs.RO2026
Onboard MuJoCo-based Model Predictive Control for Shipboard Crane with Double-Pendulum Sway Suppression
Oscar Pang, Lisa Coiffard, Paul Templier +3
Transferring heavy payloads in maritime settings relies on efficient crane operation, limited by hazardous double-pendulum payload sway. This sway motion is further exacerbated in…
cs.NE2025
Time to Play: Simulating Early-Life Animal Dynamics Enhances Robotics Locomotion Discovery
Paul Templier, Hannah Janmohamed, David Labonte +1
Developmental changes in body morphology profoundly shape locomotion in animals, yet artificial agents and robots are typically trained under static physical parameters. Inspired b…
cs.NE2025
Overcoming Deceptiveness in Fitness Optimization with Unsupervised Quality-Diversity
Lisa Coiffard, Paul Templier, Antoine Cully
Policy optimization seeks the best solution to a control problem according to an objective or fitness function, serving as a fundamental field of engineering and research with appl…