Learning How to Walk: Warm-starting Optimal Control Solver with Memory
of Motion

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Learning How to Walk: Warm-starting Optimal Control Solver with Memory of Motion

31 January 2020

Teguh Santoso Lembono

Carlos Mastalli

Pierre Fernbach

Nicolas Mansard

Sylvain Calinon

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Papers citing "Learning How to Walk: Warm-starting Optimal Control Solver with Memory of Motion"

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Title
Real-time Whole-body Model Predictive Control for Bipedal Locomotion with a Novel Kino-dynamic Model and Warm-start Method Junhyung Kim Hokyun Lee Jaeheung Park AI4CE 36 0 0 26 May 2025
Whole-body MPC and sensitivity analysis of a real time foot step sequencer for a biped robot Bolt Constant Roux Côme Perrot Olivier Stasse 114 1 0 02 Dec 2024
BOMP: Bin-Optimized Motion Planning Zachary Tam K. Dharmarajan Tianshuang Qiu Yahav Avigal Jeffrey Ichnowski Ken Goldberg 95 0 0 31 Oct 2024
Hierarchical Learning Framework for Whole-Body Model Predictive Control of a Real Humanoid Robot Koji Ishihara Hiroaki Gomi Jun Morimoto 32 0 0 13 Sep 2024
Non-Gaited Legged Locomotion with Monte-Carlo Tree Search and Supervised Learning Ilyass Taouil Lorenzo Amatucci Majid Khadiv Angela Dai Victor Barasuol Giulio Turrisi Claudio Semini 112 1 0 14 Aug 2024
Faster Model Predictive Control via Self-Supervised Initialization Learning Zhaoxin Li Letian Chen Rohan R. Paleja S. Nageshrao Matthew C. Gombolay Matthew Gombolay 359 2 0 06 Aug 2024
Learning-based legged locomotion; state of the art and future perspectives Sehoon Ha Joonho Lee M. van de Panne Zhaoming Xie Wenhao Yu Majid Khadiv 139 20 0 03 Jun 2024
Online Multi-Contact Receding Horizon Planning via Value Function Approximation Jiayi Wang Sanghyun Kim Teguh Santoso Lembono Wenqian Du Jae-Koo Shim ... Ke Min Wang V. Ivan Sylvain Calinon S. Vijayakumar Steve Tonneau 52 5 0 07 Jun 2023
Perceptive Locomotion through Nonlinear Model Predictive Control R. Grandia Fabian Jenelten Shao-hua Yang Farbod Farshidian Marco Hutter 85 150 0 17 Aug 2022
Tensor Train for Global Optimization Problems in Robotics Suhan Shetty Teguh Santoso Lembono Tobias Löw Sylvain Calinon 87 12 0 10 Jun 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 66 75 0 19 Jan 2022
Receding-Horizon Perceptive Trajectory Optimization for Dynamic Legged Locomotion with Learned Initialization Oliwier Melon Romeo Orsolino D. Surovik Mathieu Geisert Ioannis Havoutis Maurice F. Fallon 61 35 0 19 Apr 2021
A Feasibility-Driven Approach to Control-Limited DDP Carlos Mastalli W. Merkt Josep Martí-Saumell Henrique Ferrolho J. Solà Nicolas Mansard S. Vijayakumar 59 44 0 01 Oct 2020