45 citations · 85 across the 7 of their papers we have counts for
4 papers · 1 filter
Probabilistic Iterative LQR for Short Time Horizon MPC
Teguh Santoso Lembono, Sylvain Calinon
Optimal control is often used in robotics for planning a trajectory to achieve some desired behavior, as expressed by the cost function. Most works in optimal control focus on find…
Learning Constrained Distributions of Robot Configurations with Generative Adversarial Network
Teguh Santoso Lembono, Emmanuel Pignat, Julius Jankowski +1
In high dimensional robotic system, the manifold of the valid configuration space often has a complex shape, especially under constraints such as end-effector orientation or static…
Learning How to Walk: Warm-starting Optimal Control Solver with Memory of Motion
Teguh Santoso Lembono, Carlos Mastalli, Pierre Fernbach +2
In this paper, we propose a framework to build a memory of motion for warm-starting an optimal control solver for the locomotion task of a humanoid robot. We use HPP Loco3D, a vers…
A memory of motion for visual predictive control tasks
Antonio Paolillo, Teguh Santoso Lembono, Sylvain Calinon
This paper addresses the problem of efficiently achieving visual predictive control tasks. To this end, a memory of motion, containing a set of trajectories built off-line, is used…