Ludovic Righetti
収録論文 79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
- Cooptimizing Safety and Performance Using Safety Value-Constrained Model Predictive Control2026/4/1
- Toward Global Intent Inference for Human Motion by Inverse Reinforcement Learning2026/3/1
- Hippo: High-performance Interior-Point and Projection-based Solver for Generic Constrained Trajectory Optimization2026/3/1
- Coupled Local and Global World Models for Efficient First Order RL2026/2/1
- Is open robotics innovation a threat to international peace and security?2026/1/1
- WorldPlanner: Monte Carlo Tree Search and MPC with Action-Conditioned Visual World Models2025/11/1
- Learning Human Reaching Optimality Principles from Minimal Observation Inverse Reinforcement Learning2025/10/1
- First Order Model-Based RL through Decoupled Backpropagation2025/9/1
- Safe and Performant Deployment of Autonomous Systems via Model Predictive Control and Hamilton-Jacobi Reachability Analysis2025/6/1
- An Introduction to Zero-Order Optimization Techniques for Robotics2025/6/1
- Cost Function Estimation Using Inverse Reinforcement Learning with Minimal Observations2025/5/1
- Infinite-Horizon Value Function Approximation for Model Predictive Control2025/2/1
- Should We Learn Contact-Rich Manipulation Policies from Sampling-Based Planners?2024/12/1
- Safe Reinforcement Learning of Robot Trajectories in the Presence of Moving Obstacles2024/11/1
- Accelerated gradient descent for high frequency Model Predictive Control2024/9/1
- SoloParkour: Constrained Reinforcement Learning for Visual Locomotion from Privileged Experience2024/9/1
- Diffusion-based learning of contact plans for agile locomotion2024/3/1
- iDb-RRT: Sampling-based Kinodynamic Motion Planning with Motion Primitives and Trajectory Optimization2024/3/1
- Multi-contact Stochastic Predictive Control for Legged Robots with Contact Locations Uncertainty2023/9/1
- Risk-Sensitive Extended Kalman Filter2023/5/1
- Path Planning Under Uncertainty to Localize mmWave Sources2023/3/1
- Visual-Inertial and Leg Odometry Fusion for Dynamic Locomotion2022/10/1
- MPC with Sensor-Based Online Cost Adaptation2022/9/1
- ContactNet: Online Multi-Contact Planning for Acyclic Legged Robot Locomotion2022/9/1
- Efficient Object Manipulation Planning with Monte Carlo Tree Search2022/6/1
- Nonlinear Stochastic Trajectory Optimization for Centroidal Momentum Motion Generation of Legged Robots2022/5/1
- On the Use of Torque Measurement in Centroidal State Estimation2022/2/1
- ValueNetQP: Learned one-step optimal control for legged locomotion2022/1/1
- BiConMP: A Nonlinear Model Predictive Control Framework for Whole Body Motion Planning2022/1/1
- A unified framework for walking and running of bipedal robots2021/10/1
- Millimeter Wave Wireless Assisted Robot Navigation with Link State Classification2021/10/1
- Rapid Convex Optimization of Centroidal Dynamics using Block Coordinate Descent2021/8/1
- Model-free Reinforcement Learning for Robust Locomotion using Demonstrations from Trajectory Optimization2021/7/1
- $\mathcal{N}$IPM-HLSP: An Efficient Interior-Point Method for Hierarchical Least-Squares Programs2021/6/1
- A Robustness Analysis of Inverse Optimal Control of Bipedal Walking2021/4/1
- Simultaneous Navigation and Construction Benchmarking Environments2021/3/1
- Exponential Integration for Efficient and Accurate Multi-Body Simulation with Stiff Viscoelastic Contacts2021/1/1
- Learning a Centroidal Motion Planner for Legged Locomotion2020/11/1
- Leveraging Forward Model Prediction Error for Learning Control2020/11/1
- Impedance Optimization for Uncertain Contact Interactions Through Risk Sensitive Optimal Control2020/11/1
- Robot Learning with Crash Constraints2020/10/1
- Variable Horizon MPC with Swing Foot Dynamics for Bipedal Walking Control2020/10/1
- Efficient Multi-Contact Pattern Generation with Sequential Convex Approximations of the Centroidal Dynamics2020/10/1
- Robust walking based on MPC with viability guarantees2020/10/1
- DeepQ Stepper: A framework for reactive dynamic walking on uneven terrain2020/10/1
- TriFinger: An Open-Source Robot for Learning Dexterity2020/8/1
- Enabling Remote Whole-Body Control with 5G Edge Computing2020/8/1
- Stochastic and Robust MPC for Bipedal Locomotion: A Comparative Study on Robustness and Performance2020/5/1
- An Open Torque-Controlled Modular Robot Architecture for Legged Locomotion Research2019/10/1
- Crocoddyl: An Efficient and Versatile Framework for Multi-Contact Optimal Control2019/9/1
- Robust Humanoid Contact Planning with Learned Zero- and One-Step Capturability Prediction2019/9/1
- Learning to Explore in Motion and Interaction Tasks2019/8/1
- Robust Humanoid Locomotion Using Trajectory Optimization and Sample-Efficient Learning2019/7/1
- Learning Variable Impedance Control for Contact Sensitive Tasks2019/7/1
- Meta-Learning via Learned Loss2019/6/1
- Trajectory Optimization for Robust Humanoid Locomotion with Sample-Efficient Learning2019/6/1
- Curious iLQR: Resolving Uncertainty in Model-based RL2019/4/1
- Efficient Humanoid Contact Planning using Learned Centroidal Dynamics Prediction2018/10/1
- Leveraging Contact Forces for Learning to Grasp2018/9/1
- Learning Task-Specific Dynamics to Improve Whole-Body Control2018/3/1
- An MPC Walking Framework With External Contact Forces2017/12/1
- Learning a Structured Neural Network Policy for a Hopping Task2017/10/1
- On Time Optimization of Centroidal Momentum Dynamics2017/9/1
- Unsupervised Contact Learning for Humanoid Estimation and Control2017/9/1
- Pattern Generation for Walking on Slippery Terrains2017/8/1
- Walking Control Based on Step Timing Adaptation2017/4/1
- Balancing and Walking Using Full Dynamics LQR Control With Contact Constraints2017/1/1
- Step Timing Adjustment: A Step toward Generating Robust Gaits2016/10/1
- Stepping Stabilization Using a Combination of DCM Tracking and Step Adjustment2016/9/1
- A Convex Model of Momentum Dynamics for Multi-Contact Motion Generation2016/7/1
- On the Effects of Measurement Uncertainty in Optimal Control of Contact Interactions2016/5/1
- Structured contact force optimization for kino-dynamic motion generation2016/5/1
- Inertial Sensor-Based Humanoid Joint State Estimation2016/2/1
- Trajectory generation for multi-contact momentum-control2015/7/1
- Humanoid Momentum Estimation Using Sensed Contact Wrenches2015/7/1
- Probabilistic Depth Image Registration incorporating Nonvisual Information2015/4/1
- Momentum Control with Hierarchical Inverse Dynamics on a Torque-Controlled Humanoid2014/10/1
- State Estimation for a Humanoid Robot2014/2/1
- Balancing experiments on a torque-controlled humanoid with hierarchical inverse dynamics2013/5/1