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09/08/2023
Few-Shot Learning of Force-Based Motions From Demonstration Through Pre-training of Haptic Representation
In many contact-rich tasks, force sensing plays an essential role in ada...
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08/04/2023
Nonprehensile Planar Manipulation through Reinforcement Learning with Multimodal Categorical Exploration
Developing robot controllers capable of achieving dexterous nonprehensil...
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07/25/2023
A behavioural transformer for effective collaboration between a robot and a non-stationary human
A key challenge in human-robot collaboration is the non-stationarity cre...
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06/07/2023
Online Multi-Contact Receding Horizon Planning via Value Function Approximation
Planning multi-contact motions in a receding horizon fashion requires a ...
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05/15/2023
Perceptive Locomotion through Whole-Body MPC and Optimal Region Selection
Real-time synthesis of legged locomotion maneuvers in challenging indust...
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03/24/2023
Topology-Based MPC for Automatic Footstep Placement and Contact Surface Selection
State-of-the-art approaches to footstep planning assume reduced-order dy...
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03/23/2023
RGB-D-Inertial SLAM in Indoor Dynamic Environments with Long-term Large Occlusion
This work presents a novel RGB-D-inertial dynamic SLAM method that can e...
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01/31/2023
OpTaS: An Optimization-based Task Specification Library for Trajectory Optimization and Model Predictive Control
This paper presents OpTaS, a task specification Python library for Traje...
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10/13/2022
ROS-PyBullet Interface: A Framework for Reliable Contact Simulation and Human-Robot Interaction
Reliable contact simulation plays a key role in the development of (semi...
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09/12/2022
Inverse-Dynamics MPC via Nullspace Resolution
Optimal control (OC) using inverse dynamics provides numerical benefits ...
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09/02/2022
Differentiable Optimal Control via Differential Dynamic Programming
Robot design optimization, imitation learning and system identification ...
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04/25/2022
Sparse-Dense Motion Modelling and Tracking for Manipulation without Prior Object Models
This work presents an approach for modelling and tracking previously uns...
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03/14/2022
Agile Maneuvers in Legged Robots: a Predictive Control Approach
Achieving agile maneuvers through multiple contact phases has been a lon...
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03/06/2022
RGB-D SLAM in Indoor Planar Environments with Multiple Large Dynamic Objects
This work presents a novel dense RGB-D SLAM approach for dynamic planar ...
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03/02/2022
RoLoMa: Robust Loco-Manipulation for Quadruped Robots with Arms
Deployment of robotic systems in the real world requires a certain level...
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10/18/2021
Set-based State Estimation with Probabilistic Consistency Guarantee under Epistemic Uncertainty
Consistent state estimation is challenging, especially under the epistem...
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09/27/2021
Non-prehensile Planar Manipulation via Trajectory Optimization with Complementarity Constraints
Contact adaption is an essential capability when manipulating objects. T...
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09/09/2021
A Unified Model with Inertia Shaping for Highly Dynamic Jumps of Legged Robots
To achieve highly dynamic jumps of legged robots, it is essential to con...
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08/03/2021
AcousticFusion: Fusing Sound Source Localization to Visual SLAM in Dynamic Environments
Dynamic objects in the environment, such as people and other agents, lea...
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08/02/2021
PoseFusion2: Simultaneous Background Reconstruction and Human Shape Recovery in Real-time
Dynamic environments that include unstructured moving objects pose a har...
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06/20/2021
HapFIC: An Adaptive Force/Position Controller for Safe Environment Interaction in Articulated Systems
Haptic interaction is essential for the dynamic dexterity of animals, wh...
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03/08/2021
Co-Designing Robots by Differentiating Motion Solvers
We present a novel algorithm for the computational co-design of legged r...
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02/07/2021
Decentralized Ability-Aware Adaptive Control for Multi-robot Collaborative Manipulation
Multi-robot teams can achieve more dexterous, complex and heavier payloa...
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11/14/2020
Sparsity-Inducing Optimal Control via Differential Dynamic Programming
Optimal control is a popular approach to synthesize highly dynamic motio...
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11/01/2020
A Passive Navigation Planning Algorithm for Collision-free Control of Mobile Robots
Path planning and collision avoidance are challenging in complex and hig...
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10/23/2020
Robust Planning and Control for Dynamic Quadrupedal Locomotion with Adaptive Feet
In this paper, we aim to improve the robustness of dynamic quadrupedal l...
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10/21/2020
RigidFusion: Robot Localisation and Mapping in Environments with Large Dynamic Rigid Objects
This work presents a novel approach to simultaneously track a robot with...
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10/11/2020
Inverse Dynamics vs. Forward Dynamics in Direct Transcription Formulations for Trajectory Optimization
Benchmarks of state-of-the-art rigid-body dynamics libraries have report...
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10/02/2020
Memory Clustering using Persistent Homology for Multimodality- and Discontinuity-Sensitive Learning of Optimal Control Warm-starts
Shooting methods are an efficient approach to solving nonlinear optimal ...
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10/01/2020
A Direct-Indirect Hybridization Approach to Control-Limited DDP
Optimal control is a widely used tool for synthesizing motions and contr...
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06/23/2020
Multi-modal Trajectory Optimization for Impact-aware Manipulation
The transition from free motion to contact is a challenging problem in r...
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04/06/2020
Variable Autonomy of Whole-body Control for Inspection and Intervention in Industrial Environments using Legged Robots
The deployment of robots in industrial and civil scenarios is a viable s...
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03/07/2020
Online Dynamic Motion Planning and Control for Wheeled Biped Robots
Wheeled-legged robots combine the efficiency of wheeled robots when driv...
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03/03/2020
Bio-mimetic Adaptive Force/Position Control Using Fractal Impedance
The ability of animals to interact with complex dynamics is unmatched in...
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03/03/2020
Modeling and Control of a Hybrid Wheeled Jumping Robot
In this paper, we study a wheeled robot with a prismatic extension joint...
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03/01/2020
Optimizing Dynamic Trajectories for Robustness to Disturbances Using Polytopic Projections
This paper focuses on robustness to disturbance forces and uncertain pay...
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02/27/2020
Safe and Compliant Control of Redundant Robots Using a Stack of Passive Task-Space Controllers
Safe and compliant control of dynamic systems in interaction with the en...
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02/24/2020
Optimisation of Body-ground Contact for Augmenting Whole-Body Loco-manipulation of Quadruped Robots
Legged robots have great potential to perform loco-manipulation tasks, y...
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02/07/2020
Learning Whole-body Motor Skills for Humanoids
This paper presents a hierarchical framework for Deep Reinforcement Lear...
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09/11/2019
Crocoddyl: An Efficient and Versatile Framework for Multi-Contact Optimal Control
We introduce Crocoddyl (Contact RObot COntrol by Differential DYnamic Li...
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08/15/2019
Comparing Metrics for Robustness Against External Perturbations in Dynamic Trajectory Optimization
Dynamic trajectory optimization is a popular approach for generating opt...
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05/11/2019
Comparing Alternate Modes of Teleoperation for Constrained Tasks
Teleoperation of heavy machinery in industry often requires operators to...
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02/19/2019
Analytic Model for Quadruped Locomotion Task-Space Planning
Despite the extensive presence of the legged locomotion in animals, it i...
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03/06/2018
The ORCA Hub: Explainable Offshore Robotics through Intelligent Interfaces
We present the UK Robotics and Artificial Intelligence Hub for Offshore ...
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08/13/2012
Path Integral Control by Reproducing Kernel Hilbert Space Embedding
We present an embedding of stochastic optimal control problems, of the s...
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09/20/2010