Publications
DEPARTMENTS
Emperical Interference
Haptic Intelligence
Modern Magnetic Systems
Perceiving Systems
Physical Intelligence
Robotic Materials
Social Foundations of Computation
Research Groups
Autonomous Vision
Autonomous Learning
Bioinspired Autonomous Miniature Robots
Dynamic Locomotion
Embodied Vision
Human Aspects of Machine Learning
Intelligent Control Systems
Learning and Dynamical Systems
Locomotion in Biorobotic and Somatic Systems
Micro, Nano, and Molecular Systems
Movement Generation and Control
Neural Capture and Synthesis
Physics for Inference and Optimization
Organizational Leadership and Diversity
Probabilistic Learning Group
Topics
Robot Learning
Conference Paper
2022
Autonomous Learning
Robotics
AI
Career
Award
Empirical Inference
Movement Generation and Control
Conference Paper
On the Use of Torque Measurement in Centroidal State Estimation
Khorshidi, S., Gazar, A., Rotella, N., Naveau, M., Righetti, L., Bennewitz, M., Khadiv, M.
IEEE International Conference on Robotics and Automation (ICRA), :9931-9937, May 2023 (Published)
DOI
BibTeX
Movement Generation and Control
Conference Paper
Introducing Force Feedback in Model Predictive Control
Kleff, E. D. E. S. G. M. N. R. L.
Proceedings of the 2022 International Conference on Intelligent Robots and Systems (IROS), :13379-13385, IEEE, International Conference on Intelligent Robots and Systems (IROS), October 2022 (Published)
DOI
BibTeX
Movement Generation and Control
Conference Paper
A unified framework for walking and running of bipedal robots
Boroujeni, M. G., Daneshmand, E., Righetti, L., Khadiv, M.
20th International Conference on Advanced Robotics (ICAR), December 2021, Accepted (Accepted)
URL
BibTeX
Movement Generation and Control
Conference Paper
Stochastic and robust mpc for bipedal locomotion: A comparative study on robustness and performance
Gazar, A., Khadiv, M., DelPrete, A., Righetti, L.
:1-8, IEEE, IEEE-RAS 20th International Conference on Humanoid Robots (Humanoids), July 2021 (Published)
DOI
BibTeX
Movement Generation and Control
Conference Paper
DeepQ Stepper: A framework for reactive dynamic walking on uneven terrain
Meduri, A., Khadiv, M., Righetti, L.
The 2021 International Conference on Robotics and Automation (ICRA 2021), June 2021 (Published)
URL
BibTeX
Movement Generation and Control
Conference Paper
Learning a Centroidal Motion Planner for Legged Locomotion
Viereck, J., Righetti, L.
2021 IEEE International Conference on Robotics and Automation (ICRA), :4905-4911 , IEEE, The 2021 International Conference on Robotics and Automation (ICRA 2021), June 2021 (Published)
DOI
BibTeX
Movement Generation and Control
Conference Paper
Leveraging Forward Model Prediction Error for Learning Control
Bechtle, S., Hammoud, B., Rai, A., Meier, F., Righetti, L.
2021 IEEE International Conference on Robotics and Automation (ICRA) , :4445-4451 , IEEE International Conference on Robotics and Automation (ICRA 2021), June 2021 (Published)
URL
BibTeX
Empirical Inference
Autonomous Motion
Movement Generation and Control
Conference Paper
TriFinger: An Open-Source Robot for Learning Dexterity
Wüthrich, M., Widmaier, F., Grimminger, F., Akpo, J., Joshi, S., Agrawal, V., Hammoud, B., Khadiv, M., Bogdanovic, M., Berenz, V., et al.
Proceedings of the 4th Conference on Robot Learning (CoRL), 155:1871-1882, Proceedings of Machine Learning Research, (Editors: Jens Kober and Fabio Ramos and Claire J. Tomlin), PMLR, November 2020 (Published)
PDF
URL
BibTeX
Movement Generation and Control
Conference Paper
Enabling Remote Whole-Body Control with 5G Edge Computing
Zhu, H., Sharma, M., Pfeiffer, K., Mezzavilla, M., Shen, J., Rangan, S., Righetti, L.
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), :3553-3560, IEEE, Piscataway, NJ, USA, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), October 2020, Accepted (Accepted)
DOI
URL
BibTeX
Movement Generation and Control
Conference Paper
Curious ilqr: Resolving uncertainty in model-based rl
Bechtle, S., Lin, Y., Rai, A., Righetti, L., Meier, F.
Conference on Robot Learning, May 2020 (Published)
BibTeX
Empirical Inference
Autonomous Learning
Autonomous Motion
Movement Generation and Control
Conference Paper
A Real-Robot Dataset for Assessing Transferability of Learned Dynamics Models
Agudelo-España, D., Zadaianchuk, A., Wenk, P., Garg, A., Akpo, J., Grimminger, F., Viereck, J., Naveau, M., Righetti, L., Martius, G., et al.
IEEE International Conference on Robotics and Automation (ICRA), :8151-8157, IEEE, 2020 (Published)
Project Page
PDF
DOI
BibTeX
Movement Generation and Control
Conference Paper
EXPLORING BY EXPLOITING BAD MODELS IN MODEL-BASED REINFORCEMENT LEARNING
Lin, Y., Bechtle, S., Righetti, L., Rai, A., Meier, F.
International Conference on Learning Representations, 2020 (Published)
BibTeX
Movement Generation and Control
Conference Paper
Learning to Explore in Motion and Interaction Tasks
Bogdanovic, M., Righetti, L.
Proceedings 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), :2686-2692, IEEE, 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), November 2019, ISSN: 2153-0866 (Published)
DOI
BibTeX
Movement Generation and Control
Conference Paper
Robust Humanoid Locomotion Using Trajectory Optimization and Sample-Efficient Learning
Yeganegi, M. H., Khadiv, M., Moosavian, S. A. A., Zhu, J., Prete, A. D., Righetti, L.
Proceedings International Conference on Humanoid Robots, IEEE, 2019 IEEE-RAS International Conference on Humanoid Robots, October 2019 (Published)
https://arxiv.org/abs/1907.04616
URL
BibTeX
Movement Generation and Control
Conference Paper
Efficient Humanoid Contact Planning using Learned Centroidal Dynamics Prediction
Lin, Y., Ponton, B., Righetti, L., Berenson, D.
International Conference on Robotics and Automation (ICRA), :5280-5286, IEEE, May 2019 (Published)
DOI
BibTeX
Movement Generation and Control
Conference Paper
A Whole-Body Model Predictive Control Scheme Including External Contact Forces and CoM Height Variations
Mirjalili, R., Yousefi-koma, A., Shirazi, F. A., Nikkhah, A., Nazemi, F., Khadiv, M.
Proceedings International Conference on Humanoid Robots, IEEE, Beijing, China, 2018 IEEE-RAS International Conference on Humanoid Robots, November 2018 (Published)
DOI
URL
BibTeX