paper-conference

Analytical Integral Global Optimization
Numerical optimization has been the workhorse powering the success of many machine learning and artificial intelligence tools over the …
Sebastien Labbe, Andrea Del Del Prete
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Analytical Integral Global Optimization
CACTO-SL: Using Sobolev Learning to improve Continuous Actor-Critic with Trajectory Optimization
Trajectory Optimization (TO) and Reinforcement Learning (RL) are powerful and complementary tools to solve optimal control problems. On …
Elisa Alboni, Gianluigi Grandesso, Gastone P. Rosati Papini, Justin Carpentier, Andrea Del Prete
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CACTO-SL: Using Sobolev Learning to improve Continuous Actor-Critic with Trajectory Optimization
Efficient Reinforcement Learning for Jumping Monopods
In this work, we consider the complex control problem of making a monopod reach a target with a jump. The monopod can jump in any …
Riccardo Bussola, Michele Focchi, Andrea Del Prete, Daniele Fontanelli, Luigi Palopoli
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Receding-Constraint Model Predictive Control using a Learned Approximate Control-Invariant Set
In recent years, advanced model-based and data-driven control methods are unlocking the potential of complex robotics systems, and we …
Gianni Lunardi, Asia La Rocca, Matteo Saveriano, Andrea Del Prete
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Receding-Constraint Model Predictive Control using a Learned Approximate Control-Invariant Set
CLIO: a Novel Robotic Solution for Exploration and Rescue Missions in Hostile Mountain Environments
Rescue missions in mountain environments are hardly achievable by standard legged robots—because of the high slopes—or by flying …
Michele Focchi, Mohamed Bensaadallah, Marco Frego, Angelika Peer, Daniele Fontanelli, Andrea Del Prete, Luigi Palopoli
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CLIO: a Novel Robotic Solution for Exploration and Rescue Missions in Hostile Mountain Environments
Robust Satisfaction of Joint Position and Velocity Bounds in Discrete-Time Acceleration Control of Robot Manipulators
This paper deals with the robust control of fully-actuated robots subject to joint position, velocity and acceleration bounds. Robotic …
Erik Zanolli, Andrea Del Prete
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Robust Satisfaction of Joint Position and Velocity Bounds in Discrete-Time Acceleration Control of Robot Manipulators
Nonlinear Stochastic Trajectory Optimization Legged Robots
Ahmad Gazar, Majid Khadiv, Sebastien Kleff, Andrea Del Prete, Ludovic Righetti
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Computational design of energy-efficient legged robots : Optimizing for size and actuators
Gabriele Fadini, Thomas Flayols, Andrea Del Prete, Nicolas Mansard, Philippe Souères
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Computational design of energy-efficient legged robots : Optimizing for size and actuators
Stochastic and Robust MPC for Bipedal Locomotion : A Comparative Study on Robustness and Performance
Ahmad Gazar, Majid Khadiv, Andrea Del Prete, Ludovic Righetti
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Stochastic and Robust MPC for Bipedal Locomotion : A Comparative Study on Robustness and Performance
SL1M: Sparse L1-norm Minimization for contact planning on uneven terrain
One of the main challenges of planning legged locomotion in complex environments is the combinatorial contact selection problem. Recent …
Steve Tonneau, Daeun Song, Pierre Fernbach, Nicolas Mansard, Michel Taix, Andrea Del Prete
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SL1M: Sparse L1-norm Minimization for contact planning on uneven terrain