3 papers
cs.RO2025
Very High Frequency Interpolation for Direct Torque Control
Rafael Kourdis, Maciej StÄpieÅ, Jérôme Manhes +4
Torque control enables agile and robust robot motion, but deployment is often hindered by instability and hardware limits. Here, we present a novel solution to execute whole-body l…
cs.RO2025
Latent Conditioned Loco-Manipulation Using Motion Priors
Maciej StÄpieÅ, Rafael Kourdis, Constant Roux +1
Although humanoid and quadruped robots provide a wide range of capabilities, current control methods, such as Deep Reinforcement Learning, focus mainly on single skills. This appro…
cs.LG2024
VIL: Learning to Leverage Auxiliary Tasks for Multitask Learning
Rafael Kourdis, Gabriel Gordon-Hall, Philip John Gorinski
Multitask Learning is a Machine Learning paradigm that aims to train a range of (usually related) tasks with the help of a shared model. While the goal is often to improve the join…