Picture for Wolfgang Merkt

Wolfgang Merkt

Gaitor: Learning a Unified Representation Across Gaits for Real-World Quadruped Locomotion

May 29, 2024
Viaarxiv icon

Towards Agility: A Momentum Aware Trajectory Optimisation Framework using Full-Centroidal Dynamics & Implicit Inverse Kinematics

Oct 09, 2023
Viaarxiv icon

R-LGP: A Reachability-guided Logic-geometric Programming Framework for Optimal Task and Motion Planning on Mobile Manipulators

Oct 04, 2023
Viaarxiv icon

Perceptive Locomotion through Whole-Body MPC and Optimal Region Selection

May 15, 2023
Figure 1 for Perceptive Locomotion through Whole-Body MPC and Optimal Region Selection
Figure 2 for Perceptive Locomotion through Whole-Body MPC and Optimal Region Selection
Figure 3 for Perceptive Locomotion through Whole-Body MPC and Optimal Region Selection
Figure 4 for Perceptive Locomotion through Whole-Body MPC and Optimal Region Selection
Viaarxiv icon

Roll-Drop: accounting for observation noise with a single parameter

Apr 25, 2023
Figure 1 for Roll-Drop: accounting for observation noise with a single parameter
Figure 2 for Roll-Drop: accounting for observation noise with a single parameter
Figure 3 for Roll-Drop: accounting for observation noise with a single parameter
Figure 4 for Roll-Drop: accounting for observation noise with a single parameter
Viaarxiv icon

Multi-Agent Chance-Constrained Stochastic Shortest Path with Application to Risk-Aware Intelligent Intersection

Oct 03, 2022
Figure 1 for Multi-Agent Chance-Constrained Stochastic Shortest Path with Application to Risk-Aware Intelligent Intersection
Figure 2 for Multi-Agent Chance-Constrained Stochastic Shortest Path with Application to Risk-Aware Intelligent Intersection
Figure 3 for Multi-Agent Chance-Constrained Stochastic Shortest Path with Application to Risk-Aware Intelligent Intersection
Figure 4 for Multi-Agent Chance-Constrained Stochastic Shortest Path with Application to Risk-Aware Intelligent Intersection
Viaarxiv icon

Learning and Deploying Robust Locomotion Policies with Minimal Dynamics Randomization

Sep 26, 2022
Figure 1 for Learning and Deploying Robust Locomotion Policies with Minimal Dynamics Randomization
Figure 2 for Learning and Deploying Robust Locomotion Policies with Minimal Dynamics Randomization
Figure 3 for Learning and Deploying Robust Locomotion Policies with Minimal Dynamics Randomization
Figure 4 for Learning and Deploying Robust Locomotion Policies with Minimal Dynamics Randomization
Viaarxiv icon

VAE-Loco: Versatile Quadruped Locomotion by Learning a Disentangled Gait Representation

May 02, 2022
Figure 1 for VAE-Loco: Versatile Quadruped Locomotion by Learning a Disentangled Gait Representation
Figure 2 for VAE-Loco: Versatile Quadruped Locomotion by Learning a Disentangled Gait Representation
Figure 3 for VAE-Loco: Versatile Quadruped Locomotion by Learning a Disentangled Gait Representation
Figure 4 for VAE-Loco: Versatile Quadruped Locomotion by Learning a Disentangled Gait Representation
Viaarxiv icon

Agile Maneuvers in Legged Robots: a Predictive Control Approach

Mar 14, 2022
Figure 1 for Agile Maneuvers in Legged Robots: a Predictive Control Approach
Figure 2 for Agile Maneuvers in Legged Robots: a Predictive Control Approach
Figure 3 for Agile Maneuvers in Legged Robots: a Predictive Control Approach
Figure 4 for Agile Maneuvers in Legged Robots: a Predictive Control Approach
Viaarxiv icon

RoLoMa: Robust Loco-Manipulation for Quadruped Robots with Arms

Mar 02, 2022
Figure 1 for RoLoMa: Robust Loco-Manipulation for Quadruped Robots with Arms
Figure 2 for RoLoMa: Robust Loco-Manipulation for Quadruped Robots with Arms
Figure 3 for RoLoMa: Robust Loco-Manipulation for Quadruped Robots with Arms
Figure 4 for RoLoMa: Robust Loco-Manipulation for Quadruped Robots with Arms
Viaarxiv icon