Intelligent Systems
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Videos

Stagewise Implementations of Sequential Quadratic Programming for Model-Predictive Control

27 April 2024

03:34 Minutes

Stagewise Implementations of Sequential Quadratic Programming for Model-Predictive Control
Stochastic and Robust MPC for Bipedal Locomotion: A Comparative Study on Robustness and Performance

2 October 2023

01:01 Minutes

Stochastic and Robust MPC for Bipedal Locomotion: A Comparative Study on Robustness and Performance
Multi-Contact Stochastic Predictive Control for Legged Robots withContact Locations Uncertainty

2 October 2023

00:48 Minutes

Multi-Contact Stochastic Predictive Control for Legged Robots withContact Locations Uncertainty
Efficient Object Manipulation Planning with Monte Carlo Tree Search

7 April 2023

03:01 Minutes

Efficient Object Manipulation Planning with Monte Carlo Tree Search
Learning to Explore in Motion and Interaction Tasks

7 April 2023

00:50 Minutes

Learning to Explore in Motion and Interaction Tasks
MPC with Sensor-Based Online Cost Adaptation

7 April 2023

02:58 Minutes

MPC with Sensor-Based Online Cost Adaptation
On the Derivation of the Contact Dynamics in Arbitrary Frames: Application to Polishing with Talos

7 April 2023

01:40 Minutes

On the Derivation of the Contact Dynamics in Arbitrary Frames: Application to Polishing with Talos
Introducing Force Feedback in Model Predictive Control

7 April 2023

01:00 Minutes

Introducing Force Feedback in Model Predictive Control
High-Frequency Nonlinear Model Predictive Control of a Manipulator

7 April 2023

02:43 Minutes

High-Frequency Nonlinear Model Predictive Control of a Manipulator
Nonlinear Stochastic Trajectory Optimization for Motion Generation of Legged Robots.

19 September 2022

02:03 Minutes

Nonlinear Stochastic Trajectory Optimization for Motion Generation of Legged Robots.
BiConMP: A Nonlinear Model Predictive Control Framework for Whole Body Motion Planning

19 January 2022

04:28 Minutes

BiConMP: A Nonlinear Model Predictive Control Framework for Whole Body Motion Planning
A unified framework for walking and running of bipedal robots

19 October 2021

01:00 Minutes

A unified framework for walking and running of bipedal robots
Model-free RL for Robust Locomotion Using Trajectory Optimization for Exploration

15 July 2021

04:54 Minutes

Model-free RL for Robust Locomotion Using Trajectory Optimization for Exploration
Solo12 Reactive Stepping in New York / NYU

16 March 2021

01:49 Minutes

Solo12 Reactive Stepping in New York / NYU
Bipedal Walking Control using Variable Horizon MPC

16 November 2020

02:59 Minutes

Bipedal Walking Control using Variable Horizon MPC
Learning a Centroidal Motion Planner for Legged Locomotion

10 November 2020

02:18 Minutes

Learning a Centroidal Motion Planner for Legged Locomotion
DeepQ Stepper: A framework for reactive dynamic walking on uneven terrain

28 October 2020

02:33 Minutes

DeepQ Stepper: A framework for reactive dynamic walking on uneven terrain
Learning Variable Impedance Control for Contact Sensitive Tasks

14 July 2020

01:36 Minutes

Learning Variable Impedance Control for Contact Sensitive Tasks
Multi-contact trajectory optimization

24 January 2019

01:46 Minutes

Multi-contact trajectory optimization
step timing adjustments

24 January 2019

03:20 Minutes

step timing adjustments
learning a structured neural network policy for a hopping task

24 January 2019

00:58 Minutes

learning a structured neural network policy for a hopping task
humanoid momentum dynamics for multi-contact motion generation

24 January 2019

01:40 Minutes

humanoid momentum dynamics for multi-contact motion generation