Arturo Laurenzi

収録論文 20本 ・ フィジカルAI/ロボット学習

※arXiv著者名で収集。同姓同名の別人の論文が含まれる場合があります。

論文

• 集中訓練と批評家分解による実世界オンライン強化学習の効率化：ロボット操作への応用
  マニピュレーション2026/8/10

  実世界でのオンライン強化学習を効率化するため、集中訓練と分散実行（CTDE）とハイブリッド報酬アーキテクチャ（HRA）を組み合わせ、複数のエージェントが共有する多頭批評家を導入した。タスク報酬と把握報酬を分離し、サンプル効率と性能を大幅に向上させた。

• 適応的歩容タイミングによる耐故障歩行の学習
  歩行2026/8/7

  アクチュエータの出力喪失時に歩容タイミングを適応させる深層強化学習手法を提案し、シミュレーションと実機で検証した。

• Learning Fault-Tolerant Locomotion with Adaptive Gait Timing
  2026/8/1
• Efficient Real-World Online Reinforcement Learning for Robot Manipulation via Centralized Training and Critic Decomposition
  2026/8/1
• KYON: Semi-Modular Wheel-Legged Quadruped With Agile Bimanual Capability
  2026/6/1
• RL-Augmented MPC for Non-Gaited Legged and Hybrid Locomotion
  2026/3/1
• A Task-Driven, Planner-in-the-Loop Computational Design Framework for Modular Manipulators
  2025/12/1
• Unified Hierarchical MPC in Task Executing for Modular Manipulators across Diverse Morphologies
  2025/8/1
• A High-Force Gripper with Embedded Multimodal Sensing for Powerful and Perception Driven Grasping
  2025/4/1
• CONCERT: a Modular Reconfigurable Robot for Construction
  2025/4/1
• Autonomous Behavior Planning For Humanoid Loco-manipulation Through Grounded Language Model
  2024/8/1
• Whole-body MPC for highly redundant legged manipulators: experimental evaluation with a 37 DoF dual-arm quadruped
  2023/10/1
• Design and Validation of a Multi-Arm Relocatable Manipulator for Space Applications
  2023/1/1
• Trajectory Optimization for Quadruped Mobile Manipulators that Carry Heavy Payload
  2022/10/1
• Prototyping fast and agile motions for legged robots with Horizon
  2022/6/1
• Loco-Manipulation Planning for Legged Robots: Offline and Online Strategies
  2022/5/1
• Optimization-Based Quadrupedal Hybrid Wheeled-Legged Locomotion
  2021/7/1
• Agile Actions with a Centaur-Type Humanoid: A Decoupled Approach
  2021/3/1
• Flexible Disaster Response of Tomorrow -- Final Presentation and Evaluation of the CENTAURO System
  2019/9/1
• Remote Mobile Manipulation with the Centauro Robot: Full-body Telepresence and Autonomous Operator Assistance
  2019/8/1