Frank Kirchner

収録論文 46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

• 脚式ロボットの状態推定のための残差ベース適応カルマンフィルタ
  状態推定2026/8/3

  脚式ロボットの状態推定において、ノイズ共分散行列をオンラインで適応させる手法を提案し、固定パラメータのInEKFと比較して精度が向上することを示した。

• Residual-Based Adaptive Kalman Filtering for Legged Robot State Estimation
  2026/8/1
• WOLF-VLA: Whole-Body Humanoid Optimal Locomotion Framework for Vision-Language-Action Learning
  2026/6/1
• Right Model, Right Time: Real-Time Cascaded-Fidelity MPC for Bipedal Walking
  2026/5/1
• DINO-Explorer: Active Underwater Discovery via Ego-Motion Compensated Semantic Predictive Coding
  2026/4/1
• Contextual Multi-Task Reinforcement Learning for Autonomous Reef Monitoring
  2026/4/1
• Task-specific Subnetwork Discovery in Reinforcement Learning for Autonomous Underwater Navigation
  2026/4/1
• InEKFormer: A Hybrid State Estimator for Humanoid Robots
  2025/11/1
• Quadrupeds for Planetary Exploration: Field Testing Control Algorithms on an Active Volcano
  2025/10/1
• An adaptive hierarchical control framework for quadrupedal robots in planetary exploration
  2025/10/1
• Evolutionary Continuous Adaptive RL-Powered Co-Design for Humanoid Chin-Up Performance
  2025/9/1
• Unlocking the Potential of Soft Actor-Critic for Imitation Learning
  2025/9/1
• Parallel Transmission Aware Co-Design: Enhancing Manipulator Performance Through Actuation-Space Optimization
  2025/7/1
• Adaptive Model-Base Control of Quadrupeds via Online System Identification using Kalman Filter
  2025/6/1
• Bayesian Inverse Physics for Neuro-Symbolic Robot Learning
  2025/6/1
• Reinforcement Learning for Robust Athletic Intelligence: Lessons from the 2nd 'AI Olympics with RealAIGym' Competition
  2025/3/1
• Benchmarking Different QP Formulations and Solvers for Dynamic Quadrupedal Walking
  2025/2/1
• Sitting, Standing and Walking Control of the Series-Parallel Hybrid Recupera-Reha Exoskeleton
  2024/10/1
• Model Predictive Parkour Control of a Monoped Hopper in Dynamically Changing Environments
  2024/8/1
• MARLIN: A Cloud Integrated Robotic Solution to Support Intralogistics in Retail
  2024/7/1
• Online-Adaptive Anomaly Detection for Defect Identification in Aircraft Assembly
  2024/6/1
• Robust Co-Design of Canonical Underactuated Systems for Increased Certifiable Stability
  2024/3/1
• RicMonk: A Three-Link Brachiation Robot with Passive Grippers for Energy-Efficient Brachiation
  2024/3/1
• Deriving Rewards for Reinforcement Learning from Symbolic Behaviour Descriptions of Bipedal Walking
  2023/12/1
• Linear Model Predictive Control for a planar free-floating platform: A comparison of binary input constraint formulations
  2023/12/1
• CoBaIR: A Python Library for Context-Based Intention Recognition in Human-Robot-Interaction
  2023/8/1
• End-to-End Reinforcement Learning for Torque Based Variable Height Hopping
  2023/7/1
• Towards Continuous Time Finite Horizon LQR Control in SE(3)
  2023/7/1
• Teach Me How to Learn: A Perspective Review towards User-centered Neuro-symbolic Learning for Robotic Surgical Systems
  2023/7/1
• AcroMonk: A Minimalist Underactuated Brachiating Robot
  2023/5/1
• EEG and EMG dataset for the detection of errors introduced by an active orthosis device
  2023/5/1
• Analytic Estimation of Region of Attraction of an LQR Controller for Torque Limited Simple Pendulum
  2022/11/1
• Quantum Deep Reinforcement Learning for Robot Navigation Tasks
  2022/2/1
• The VVAD-LRS3 Dataset for Visual Voice Activity Detection
  2021/9/1
• Grasp stability prediction with time series data based on STFT and LSTM
  2021/6/1
• Design, analysis and control of the series-parallel hybrid RH5 humanoid robot
  2021/1/1
• Perception for Autonomous Systems (PAZ)
  2020/10/1
• Learning Context-Adaptive Task Constraints for Robotic Manipulation
  2020/8/1
• Evaluating Uncertainty Estimation Methods on 3D Semantic Segmentation of Point Clouds
  2020/7/1
• A Development Cycle for Automated Self-Exploration of Robot Behaviors
  2020/7/1
• Combinatorics of a Discrete Trajectory Space for Robot Motion Planning
  2020/5/1
• Comparison of Distal Teacher Learning with Numerical and Analytical Methods to Solve Inverse Kinematics for Rigid-Body Mechanisms
  2020/3/1
• A Survey of Behavior Learning Applications in Robotics -- State of the Art and Perspectives
  2019/6/1
• A Framework for On-line Learning of Underwater Vehicles Dynamic Models
  2019/3/1
• Learning of Multi-Context Models for Autonomous Underwater Vehicles
  2018/9/1
• Dynamic Motion Modelling for Legged Robots
  2010/5/1