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Rapid Convex Optimization of Centroidal Dynamics using Block Coordinate Descent.

, , , , , and . IROS, page 1658-1665. IEEE, (2021)

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HapFIC: An Adaptive Force/Position Controller for Safe Environment Interaction in Articulated Systems., , , , , , and . CoRR, (2021)R-LGP: A Reachability-guided Logic-geometric Programming Framework for Optimal Task and Motion Planning on Mobile Manipulators., , , , and . CoRR, (2023)Leveraging Scene Embeddings for Gradient-Based Motion Planning in Latent Space., , , , and . ICRA, page 5674-5680. IEEE, (2023)Introspective Visuomotor Control: Exploiting Uncertainty in Deep Visuomotor Control for Failure Recovery., , , , and . ICRA, page 6293-6299. IEEE, (2021)Learning an Expert Skill-Space for Replanning Dynamic Quadruped Locomotion over Obstacles., , , , and . CoRL, volume 155 of Proceedings of Machine Learning Research, page 1509-1518. PMLR, (2020)Predicted Composite Signed-Distance Fields for Real-Time Motion Planning in Dynamic Environments., , and . ICAPS, page 616-624. AAAI Press, (2021)Adaptive Manipulation using Behavior Trees., , and . CoRR, (2024)RLOC: Terrain-Aware Legged Locomotion using Reinforcement Learning and Optimal Control., , , , and . CoRR, (2020)Rapid Stability Margin Estimation for Contact-Rich Locomotion., , , , , and . IROS, page 8485-8492. IEEE, (2021)Simultaneous Scene Reconstruction and Whole-Body Motion Planning for Safe Operation in Dynamic Environments., , and . IROS, page 3710-3717. IEEE, (2021)