Image de couverture de livre

On the Benefits of GPU Sample-Based Stochastic Predictive Controllers for Legged Locomotion

Fuente: arXiv

Enregistré dans:

Détails bibliographiques
Auteurs principaux:	Turrisi, Giulio, Modugno, Valerio, Amatucci, Lorenzo, Kanoulas, Dimitrios, Semini, Claudio
Format:	Preprint
Publié:	2024
Sujets:	Robotics
Accès en ligne:	Acceder al recurso
Tags:	Ajouter un tag Pas de tags, Soyez le premier à ajouter un tag!

Documents similaires

Accelerating Model Predictive Control for Legged Robots through Distributed Optimization
par: Amatucci, Lorenzo, et autres
Publié: (2024)

Primal-Dual iLQR for GPU-Accelerated Learning and Control in Legged Robots
par: Amatucci, Lorenzo, et autres
Publié: (2025)

SafeSteps: Learning Safer Footstep Planning Policies for Legged Robots via Model-Based Priors
par: Omar, Shafeef, et autres
Publié: (2023)

Non-Gaited Legged Locomotion with Monte-Carlo Tree Search and Supervised Learning
par: Taouil, Ilyass, et autres
Publié: (2024)

VERO: A vacuum‐cleaner‐equipped quadruped robot for efficient litter removal
par: Lorenzo Amatucci, et autres
Publié: (2024)

Feedback-MPPI: Fast Sampling-Based MPC via Rollout Differentiation -- Adios low-level controllers
par: Belvedere, Tommaso, et autres
Publié: (2025)

Adaptive Non-linear Centroidal MPC with Stability Guarantees for Robust Locomotion of Legged Robots
par: Elobaid, Mohamed, et autres
Publié: (2024)

BC-MPPI: A Probabilistic Constraint Layer for Safe Model-Predictive Path-Integral Control
par: Ezeji, Odichimnma, et autres
Publié: (2025)

Leveraging Symmetry in RL-based Legged Locomotion Control
par: Su, Zhi, et autres
Publié: (2024)

PACC: A Passive-Arm Approach for High-Payload Collaborative Carrying with Quadruped Robots Using Model Predictive Control
par: Turrisi, Giulio, et autres
Publié: (2024)

On-Line Learning for Planning and Control of Underactuated Robots with Uncertain Dynamics
par: Turrisi, Giulio, et autres
Publié: (2025)

CroSTAta: Cross-State Transition Attention Transformer for Robotic Manipulation
par: Minelli, Giovanni, et autres
Publié: (2025)

Quadrupedal Footstep Planning using Learned Motion Models of a Black-Box Controller
par: Taouil, Ilyass, et autres
Publié: (2023)

Guided Reinforcement Learning for Omnidirectional 3D Jumping in Quadruped Robots
par: Bussola, Riccardo, et autres
Publié: (2025)

Immersive Teleoperation Framework for Locomanipulation Tasks
par: Boehringer, Takuya, et autres
Publié: (2025)

ContactNet: Online Multi-Contact Planning for Acyclic Legged Robot Locomotion
par: Bratta, Angelo, et autres
Publié: (2022)

Proprioceptive Image: An Image Representation of Proprioceptive Data from Quadruped Robots for Contact Estimation Learning
par: Abati, Gabriel Fischer, et autres
Publié: (2025)

Local Path Planning among Pushable Objects based on Reinforcement Learning
par: Yao, Linghong, et autres
Publié: (2023)

MUSE: A Real-Time Multi-Sensor State Estimator for Quadruped Robots
par: Nisticò, Ylenia, et autres
Publié: (2025)

Morphologically Equivariant Flow Matching for Bimanual Mobile Manipulation
par: Siebenborn, Max, et autres
Publié: (2026)

DiPPeR: Diffusion-based 2D Path Planner applied on Legged Robots
par: Liu, Jianwei, et autres
Publié: (2023)

BinWalker: Development and Field Evaluation of a Quadruped Manipulator Platform for Sustainable Litter Collection
par: Turrisi, Giulio, et autres
Publié: (2026)

Towards Terrain-Aware Safe Locomotion for Quadrupedal Robots Using Proprioceptive Sensing
par: Yang, Peiyu, et autres
Publié: (2026)

Dynamics Harmonic Analysis of Robotic Systems: Application in Data-Driven Koopman Modelling
par: Ordoñez-Apraez, Daniel, et autres
Publié: (2023)

Load-bearing Assessment for Safe Locomotion of Quadruped Robots on Collapsing Terrain
par: Medeiros, Vivian S., et autres
Publié: (2025)

Sampling Strategy Design for Model Predictive Path Integral Control on Legged Robot Locomotion
par: Tao, Chuyuan, et autres
Publié: (2026)

E-SDS: Environment-aware See it, Do it, Sorted - Automated Environment-Aware Reinforcement Learning for Humanoid Locomotion
par: Yalcin, Enis, et autres
Publié: (2025)

Deformable Multibody Modeling for Model Predictive Control in Legged Locomotion with Embodied Compliance
par: Ye, Keran, et autres
Publié: (2025)

Load-Based Variable Transmission Mechanism for Robotic Applications
par: Emre, Sinan, et autres
Publié: (2025)

DiPPeST: Diffusion-based Path Planner for Synthesizing Trajectories Applied on Quadruped Robots
par: Stamatopoulou, Maria, et autres
Publié: (2024)

SDS -- See it, Do it, Sorted: Quadruped Skill Synthesis from Single Video Demonstration
par: Stamatopoulou, Maria, et autres
Publié: (2024)

GPU-Accelerated Continuous-Time Successive Convexification for Contact-Implicit Legged Locomotion
par: Buckner, Samuel C., et autres
Publié: (2026)

Adaptive Legged Locomotion via Online Learning for Model Predictive Control
par: Zhou, Hongyu, et autres
Publié: (2025)

Adaptive Force-Based Control of Dynamic Legged Locomotion over Uneven Terrain
par: Sombolestan, Mohsen, et autres
Publié: (2023)

Benchmarking Model Predictive Control and Reinforcement Learning Based Control for Legged Robot Locomotion in MuJoCo Simulation
par: Akki, Shivayogi, et autres
Publié: (2025)

Real-time Multi-Plane Segmentation Based on GPU Accelerated High-Resolution 3D Voxel Mapping for Legged Robot Locomotion
par: Niijima, Shun, et autres
Publié: (2025)

Kinodynamic Model Predictive Control for Energy Efficient Locomotion of Legged Robots with Parallel Elasticity
par: Zhuang, Yulun, et autres
Publié: (2025)

Morphological Symmetries in Robotics
par: Ordoñez-Apraez, Daniel, et autres
Publié: (2024)

Towards An Adaptive Locomotion Strategy For Quadruped Rovers: Quantifying When To Slide Or Walk On Planetary Slopes
par: Sanchez-Delgado, Alberto, et autres
Publié: (2025)

SanD-Planner: Sample-Efficient Diffusion Planner in B-Spline Space for Robust Local Navigation
par: Wang, Jincheng, et autres
Publié: (2026)