39 citations · 44 across the 17 of their papers we have counts for
11 papers · 1 filter
Leveraging Forward Model Prediction Error for Learning Control
Sarah Bechtle, Bilal Hammoud, Akshara Rai +2
Learning for model based control can be sample-efficient and generalize well, however successfully learning models and controllers that represent the problem at hand can be challen…
Learning a Centroidal Motion Planner for Legged Locomotion
Julian Viereck, Ludovic Righetti
Whole-body optimizers have been successful at automatically computing complex dynamic locomotion behaviors. However they are often limited to offline planning as they are computati…
Impedance Optimization for Uncertain Contact Interactions Through Risk Sensitive Optimal Control
Bilal Hammoud, Majid Khadiv, Ludovic Righetti
This paper addresses the problem of computing optimal impedance schedules for legged locomotion tasks involving complex contact interactions. We formulate the problem of impedance…
DeepQ Stepper: A framework for reactive dynamic walking on uneven terrain
Avadesh Meduri, Majid Khadiv, Ludovic Righetti
Reactive stepping and push recovery for biped robots is often restricted to flat terrains because of the difficulty in computing capture regions for nonlinear dynamic models. In th…
Efficient Multi-Contact Pattern Generation with Sequential Convex Approximations of the Centroidal Dynamics
Brahayam Ponton, Majid Khadiv, Avadesh Meduri +1
This paper investigates the problem of efficient computation of physically consistent multi-contact behaviors. Recent work showed that under mild assumptions, the problem could be…
Robot Learning with Crash Constraints
Alonso Marco, Dominik Baumann, Majid Khadiv +3
In the past decade, numerous machine learning algorithms have been shown to successfully learn optimal policies to control real robotic systems. However, it is common to encounter…