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Model-free Reinforcement Learning for Robust Locomotion Using Trajectory Optimization for Exploration


Jul 14, 2021
Miroslav Bogdanovic, Majid Khadiv, Ludovic Righetti


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$\mathcal{N}$IPM-HLSP: An Efficient Interior-Point Method for Hierarchical Least-Squares Programs


Jun 25, 2021
Kai Pfeiffer, Adrien Escande, Ludovic Righetti

* 17 pages, 7 figures 

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Learning Dynamical Systems from Noisy Sensor Measurements using Multiple Shooting


Jun 22, 2021
Armand Jordana, Justin Carpentier, Ludovic Righetti


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A Robustness Analysis of Inverse Optimal Control of Bipedal Walking


Apr 25, 2021
John R. Rebula, Stefan Schaal, James Finley, Ludovic Righetti

* 9 pages, 5 figures 

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Simultaneous Navigation and Construction Benchmarking Environments


Mar 31, 2021
Wenyu Han, Chen Feng, Haoran Wu, Alexander Gao, Armand Jordana, Dong Liu, Lerrel Pinto, Ludovic Righetti


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Fast and Accurate Multi-Body Simulation with Stiff Viscoelastic Contacts


Jan 18, 2021
Bilal Hammoud, Luca Olivieri, Ludovic Righetti, Justin Carpentier, Andrea Del Prete

* 8 pages, 4 figures 

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Impedance Optimization for Uncertain Contact Interactions Through Risk Sensitive Optimal Control


Nov 09, 2020
Bilal Hammoud, Majid Khadiv, Ludovic Righetti

* 8 pages, 11 figures 

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Leveraging Forward Model Prediction Error for Learning Control


Nov 07, 2020
Sarah Bechtle, Bilal Hammoud, Akshara Rai, Franziska Meier, Ludovic Righetti


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Learning a Centroidal Motion Planner for Legged Locomotion


Nov 05, 2020
Julian Viereck, Ludovic Righetti


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DeepQ Stepper: A framework for reactive dynamic walking on uneven terrain


Oct 28, 2020
Avadesh Meduri, Majid Khadiv, Ludovic Righetti


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Robot Learning with Crash Constraints


Oct 16, 2020
Alonso Marco, Dominik Baumann, Majid Khadiv, Philipp Hennig, Ludovic Righetti, Sebastian Trimpe

* 8 pages, 5 figures, 1 table, 1 algorithm. Under review. Video demonstration of the experiments available at https://youtu.be/RAiIo0l6_rE . Algorithm implementation available at https://github.com/alonrot/classified_regression.git 

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Bipedal Walking Control using Variable Horizon MPC


Oct 16, 2020
Elham Daneshmand, Majid Khadiv, Felix Grimminger, Ludovic Righetti


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Robust walking based on MPC with viability-based feasibility guarantees


Oct 09, 2020
Mohammad Hasan Yeganegi, Majid Khadiv, Andrea Del Prete, S. Ali A. Moosavian, Ludovic Righetti


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Efficient Multi-Contact Pattern Generation with Sequential Convex Approximations of the Centroidal Dynamics


Oct 02, 2020
Brahayam Ponton, Majid Khadiv, Avadesh Meduri, Ludovic Righetti


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Enabling Remote Whole-Body Control with 5G Edge Computing


Aug 19, 2020
Huaijiang Zhu, Manali Sharma, Kai Pfeiffer, Marco Mezzavilla, Jia Shen, Sundeep Rangan, Ludovic Righetti


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TriFinger: An Open-Source Robot for Learning Dexterity


Aug 08, 2020
Manuel Wüthrich, Felix Widmaier, Felix Grimminger, Joel Akpo, Shruti Joshi, Vaibhav Agrawal, Bilal Hammoud, Majid Khadiv, Miroslav Bogdanovic, Vincent Berenz, Julian Viereck, Maximilien Naveau, Ludovic Righetti, Bernhard Schölkopf, Stefan Bauer


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Stochastic and Robust MPC for Bipedal Locomotion: A Comparative Study on Robustness and Performance


May 15, 2020
Ahmad Gazar, Majid Khadiv, Andrea Del Prete, Ludovic Righetti


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An Open Torque-Controlled Modular Robot Architecture for Legged Locomotion Research


Sep 30, 2019
Felix Grimminger, Avadesh Meduri, Majid Khadiv, Julian Viereck, Manuel Wüthrich, Maximilien Naveau, Vincent Berenz, Steve Heim, Felix Widmaier, Jonathan Fiene, Alexander Badri-Spröwitz, Ludovic Righetti


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Robust Humanoid Contact Planning with Learned Zero- and One-Step Capturability Prediction


Sep 19, 2019
Yu-Chi Lin, Ludovic Righetti, Dmitry Berenson

* Submitted to IEEE Robotics and Automation Letters(RA-L) 

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Learning to Explore in Motion and Interaction Tasks


Aug 10, 2019
Miroslav Bogdanovic, Ludovic Righetti


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Learning Variable Impedance Control for Contact Sensitive Tasks


Jul 17, 2019
Miroslav Bogdanovic, Majid Khadiv, Ludovic Righetti


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Robust Humanoid Locomotion Using Trajectory Optimization and Sample-Efficient Learning


Jul 10, 2019
Mohammad Hasan Yeganegi, Majid Khadiv, S. Ali A. Moosavian, Jia-Jie Zhu, Andrea Del Prete, Ludovic Righetti


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Meta-Learning via Learned Loss


Jun 12, 2019
Yevgen Chebotar, Artem Molchanov, Sarah Bechtle, Ludovic Righetti, Franziska Meier, Gaurav Sukhatme


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Trajectory Optimization for Robust Humanoid Locomotion with Sample-Efficient Learning


Jun 09, 2019
Majid Khadiv, Mohammad Hasan Yeganegi, S. Ali A. Moosavian, Jia-Jie Zhu, Ludovic Righetti

* RSS Workshop on Numerical Optimization for Online Multi-Contact Motion Planning and Control, 2019 

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Curious iLQR: Resolving Uncertainty in Model-based RL


Apr 15, 2019
Sarah Bechtle, Akshara Rai, Yixin Lin, Ludovic Righetti, Franziska Meier


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Efficient Humanoid Contact Planning using Learned Centroidal Dynamics Prediction


Mar 01, 2019
Yu-Chi Lin, Brahayam Ponton, Ludovic Righetti, Dmitry Berenson


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Leveraging Contact Forces for Learning to Grasp


Sep 19, 2018
Hamza Merzic, Miroslav Bogdanovic, Daniel Kappler, Ludovic Righetti, Jeannette Bohg

* 7 pages, 5 figures, Submitted to ICRA'19 

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Learning a Structured Neural Network Policy for a Hopping Task


Aug 06, 2018
Julian Viereck, Jules Kozolinsky, Alexander Herzog, Ludovic Righetti

* IEEE Robotics and Automation Letters 2018 

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Walking Control Based on Step Timing Adaptation


Jul 23, 2018
Majid Khadiv, Alexander Herzog, S. Ali A. Moosavian, Ludovic Righetti


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Learning Task-Specific Dynamics to Improve Whole-Body Control


Mar 08, 2018
Andrej Gams, Sean A. Mason, Aleš Ude, Stefan Schaal, Ludovic Righetti


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