39 citations · 44 across the 17 of their papers we have counts for
4 papers · 1 filter
Visual-Inertial and Leg Odometry Fusion for Dynamic Locomotion
Victor Dhédin, Haolong Li, Shahram Khorshidi +8
Implementing dynamic locomotion behaviors on legged robots requires a high-quality state estimation module. Especially when the motion includes flight phases, state-of-the-art appr…
MPC with Sensor-Based Online Cost Adaptation
Avadesh Meduri, Huaijiang Zhu, Armand Jordana +1
Model predictive control is a powerful tool to generate complex motions for robots. However, it often requires solving non-convex problems online to produce rich behaviors, which i…
Model Based Meta Learning of Critics for Policy Gradients
Sarah Bechtle, Ludovic Righetti, Franziska Meier
Being able to seamlessly generalize across different tasks is fundamental for robots to act in our world. However, learning representations that generalize quickly to new scenarios…
ValueNetQP: Learned one-step optimal control for legged locomotion
Julian Viereck, Avadesh Meduri, Ludovic Righetti
Optimal control is a successful approach to generate motions for complex robots, in particular for legged locomotion. However, these techniques are often too slow to run in real ti…