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RL + Model-based Control: Using On-demand Optimal Control to Learn Versatile Legged Locomotion
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Animal Motions on Legged Robots Using Nonlinear Model Predictive Control
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2022)
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Nonlinear Model Predictive Control for Quadrupedal Locomotion Using Second-Order Sensitivity Analysis
ICRA 2022 - 6th Full-Day Workshop on Legged Robots
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Animal Gaits on Quadrupedal Robots Using Motion Matching and Model-Based Control
2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2021)
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UnityMeshImporter
A runtime mesh importer for Unity
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End-to-End Collision Avoidance from Depth Input with Memory-based Deep Reinforcement Learning
Master Thesis, D-MAVT, ETH Zurich.
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SimBenchmark
A benchmark suite for physics engines
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RaiSim
An efficient pipeline for rigid body simulation with contacts