Title
Quadrupedal Spine Control Strategies: Exploring Correlations Between System Dynamic Responses and Human Perspectives Nicholas Hafner Chaoran Liu C. Ishi H. Ishiguro 27 0 0 05 May 2025
Dual-Force: Enhanced Offline Diversity Maximization under Imitation Constraints Pavel Kolev Marin Vlastelica Georg Martius OffRL 53 0 0 08 Jan 2025
A Data-driven Contact Estimation Method for Wheeled-Biped Robots Ü. Bora Gökbakan Frederike Dümbgen Stéphane Caron 37 0 0 16 Oct 2024
SoloParkour: Constrained Reinforcement Learning for Visual Locomotion from Privileged Experience Elliot Chane-Sane Joseph Amigo Thomas Flayols Ludovic Righetti Nicolas Mansard 57 6 0 20 Sep 2024
Physically-Consistent Parameter Identification of Robots in Contact Shahram Khorshidi Murad Dawood Benno Nederkorn Maren Bennewitz Majid Khadiv 37 1 0 15 Sep 2024
Morphological Symmetries in Robotics Daniel Felipe Ordoñez Apraez Giulio Turrisi Vladimir Kostic Mario Martin Antonio Agudo Francesc Moreno-Noguer Massimiliano Pontil Claudio Semini Carlos Mastalli AI4CE 42 6 0 23 Feb 2024
Benchmarking Offline Reinforcement Learning on Real-Robot Hardware Nico Gürtler Sebastian Blaes Pavel Kolev Felix Widmaier Manuel Wüthrich Stefan Bauer Bernhard Schölkopf Georg Martius OffRL 33 28 0 28 Jul 2023
HomeRobot: Open-Vocabulary Mobile Manipulation Sriram Yenamandra A. Ramachandran Karmesh Yadav Austin S. Wang Mukul Khanna ... Devendra Singh Chaplot Dhruv Batra Roozbeh Mottaghi Yonatan Bisk Chris Paxton LM&Ro 54 79 0 20 Jun 2023
Risk-Sensitive Extended Kalman Filter Armand Jordana Avadesh Meduri Etienne Arlaud Justin Carpentier Ludovic Righetti 21 3 0 19 May 2023
Design of a Jumping Control Framework with Heuristic Landing for Bipedal Robots Jingwen Zhang Junjie Shen Yeting Liu Dennis W. Hong 41 5 0 02 Apr 2023
Sequential Hierarchical Least-Squares Programming for Prioritized Non-Linear Optimal Control Kai Pfeiffer A. Kheddar 23 3 0 23 Feb 2023
AIMY: An Open-source Table Tennis Ball Launcher for Versatile and High-fidelity Trajectory Generation Alexander Dittrich Jan Schneider-Barnes Simon Guist Nico Gürtler Heiko Ott Thomas Steinbrenner Bernhard Schölkopf Le Chen 20 4 0 12 Oct 2022
Visual-Inertial and Leg Odometry Fusion for Dynamic Locomotion Victor Dhédin Haolong Li Shahram Khorshidi Lukas Mack Adithya Kumar Chinnakkonda Ravi ... Paarth Shah F. Grimminger Ludovic Righetti Majid Khadiv Joerg Stueckler 33 11 0 05 Oct 2022
ROMR: A ROS-based Open-source Mobile Robot Linus Nwankwo Clemens Fritze Konrad Bartsch Elmar Rueckert 49 9 0 04 Oct 2022
ContactNet: Online Multi-Contact Planning for Acyclic Legged Robot Locomotion Angelo Bratta Avadesh Meduri Michele Focchi Ludovic Righetti Claudio Semini 34 3 0 30 Sep 2022
Orientation Control System: Enhancing Aerial Maneuvers for Quadruped Robots Francesco Roscia Andrea Cumerlotti Andrea Del Prete Claudio Semini Michele Focchi 24 9 0 25 Aug 2022
The Wheelbot: A Jumping Reaction Wheel Unicycle A. R. Geist J. Fiene Naomi Tashiro Zheng-Yu Jia Sebastian Trimpe 11 9 0 14 Jul 2022
Agile Maneuvers in Legged Robots: a Predictive Control Approach Carlos Mastalli W. Merkt Guiyang Xin Jae-Eul Shim M. Mistry Ioannis Havoutis S. Vijayakumar 24 54 0 14 Mar 2022
Leveraging Randomized Smoothing for Optimal Control of Nonsmooth Dynamical Systems Quentin Le Lidec Fabian Schramm Louis Montaut Cordelia Schmid Ivan Laptev Justin Carpentier 38 24 0 08 Mar 2022
Diaphragm Ankle Actuation for Efficient Series Elastic Legged Robot Hopping M. Bolignari An Mo M. Fontana Alexander Badri-Spröwitz 13 6 0 03 Mar 2022
Design and Characterization of 3D Printed, Open-Source Actuators for Legged Locomotion Karthik Urs Challen Enninful Adu Elliott J. Rouse Talia Y. Moore AI4CE 23 8 0 24 Feb 2022
BiConMP: A Nonlinear Model Predictive Control Framework for Whole Body Motion Planning Avadesh Meduri Paarth Shah Julian Viereck Majid Khadiv Ioannis Havoutis Ludovic Righetti 33 73 0 19 Jan 2022
ValueNetQP: Learned one-step optimal control for legged locomotion Julian Viereck Avadesh Meduri Ludovic Righetti 19 8 0 11 Jan 2022
RoboKit-MV: an Educational Initiative Azer Babaev Ilya Osokin I. Ryakin Egor Davydenko Vladimir Litvinenko Ivan Khokhlov Aleksandr Matsun Vitaly Suvorov 10 0 0 22 Nov 2021
An Adaptable Approach to Learn Realistic Legged Locomotion without Examples Daniel Felipe Ordoñez Apraez Antonio Agudo Francesc Moreno-Noguer Mario Martin 44 8 0 28 Oct 2021
Rapid Convex Optimization of Centroidal Dynamics using Block Coordinate Descent Paarth Shah Avadesh Meduri W. Merkt Majid Khadiv Ioannis Havoutis Ludovic Righetti 19 7 0 04 Aug 2021
VILENS: Visual, Inertial, Lidar, and Leg Odometry for All-Terrain Legged Robots David Wisth Marco Camurri Maurice F. Fallon 46 119 0 15 Jul 2021
Model-free Reinforcement Learning for Robust Locomotion using Demonstrations from Trajectory Optimization Miroslav Bogdanovic Majid Khadiv Ludovic Righetti 117 30 0 14 Jul 2021
Full-Body Torque-Level Non-linear Model Predictive Control for Aerial Manipulation Josep Martí-Saumell J. Solà Angel Santamaria-Navarro Juan Andrade-Cetto 19 6 0 08 Jul 2021
HOPPY: An Open-source Kit for Education with Dynamic Legged Robots Joao Ramos Yanran Ding Youngwoo Sim Kevin Murphy Daniel Block 14 10 0 15 Mar 2021
A Versatile Co-Design Approach For Dynamic Legged Robots Traiko Dinev Carlos Mastalli V. Ivan Steve Tonneau S. Vijayakumar 25 18 0 08 Mar 2021
Impedance Optimization for Uncertain Contact Interactions Through Risk Sensitive Optimal Control Bilal Hammoud Majid Khadiv Ludovic Righetti 19 23 0 09 Nov 2020
Learning a Centroidal Motion Planner for Legged Locomotion Julian Viereck Ludovic Righetti 27 17 0 05 Nov 2020
Robust Quadrupedal Locomotion on Sloped Terrains: A Linear Policy Approach Kartik Paigwar L. Krishna Sashank Tirumala Naman Khetan Aditya Sagi Ashish Joglekar S. Bhatnagar A. Ghosal B. Amrutur Shishir Kolathaya 17 17 0 30 Oct 2020
HOPPY: An open-source and low-cost kit for dynamic robotics education Joao Ramos Yanran Ding Youngwoo Sim Kevin Murphy Daniel Block 25 3 0 27 Oct 2020
Efficient Multi-Contact Pattern Generation with Sequential Convex Approximations of the Centroidal Dynamics Brahayam Pontón Majid Khadiv Avadesh Meduri Ludovic Righetti 14 60 0 02 Oct 2020
TriFinger: An Open-Source Robot for Learning Dexterity Manuel Wüthrich Felix Widmaier F. Grimminger J. Akpo S. Joshi ... Julian Viereck M. Naveau Ludovic Righetti Bernhard Schölkopf Stefan Bauer 29 72 0 08 Aug 2020
Learning Stable Manoeuvres in Quadruped Robots from Expert Demonstrations Sashank Tirumala S. Gubbi Kartik Paigwar Aditya Sagi Ashish Joglekar S. Bhatnagar A. Ghosal B. Amrutur Shishir Kolathaya 25 4 0 28 Jul 2020