Nikos Tsagarakis

Istituto Italiano di Tecnologia

収録論文 19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
• Vision-Language-Policy Model for Dynamic Robot Task Planning
  2025/12/1
• A Task-Driven, Planner-in-the-Loop Computational Design Framework for Modular Manipulators
  2025/12/1
• INTENTION: Inferring Tendencies of Humanoid Robot Motion Through Interactive Intuition and Grounded VLM
  2025/8/1
• CONCERT: a Modular Reconfigurable Robot for Construction
  2025/4/1
• Wearable Haptics for a Marionette-inspired Teleoperation of Highly Redundant Robotic Systems
  2025/3/1
• A Laser-guided Interaction Interface for Providing Effective Robot Assistance to People with Upper Limbs Impairments
  2025/3/1
• Dynamic object goal pushing with mobile manipulators through model-free constrained reinforcement learning
  2025/2/1
• Grounding Language Models in Autonomous Loco-manipulation Tasks
  2024/9/1
• Autonomous Behavior Planning For Humanoid Loco-manipulation Through Grounded Language Model
  2024/8/1
• HYPERmotion: Learning Hybrid Behavior Planning for Autonomous Loco-manipulation
  2024/6/1
• Whole-body MPC for highly redundant legged manipulators: experimental evaluation with a 37 DoF dual-arm quadruped
  2023/10/1
• In-Hand Re-grasp Manipulation with Passive Dynamic Actions via Imitation Learning
  2023/9/1
• Trajectory Optimization for Quadruped Mobile Manipulators that Carry Heavy Payload
  2022/10/1
• Nonlinear Model Predictive Control for Robust Bipedal Locomotion: Exploring Angular Momentum and CoM Height Changes
  2019/2/1