Publications

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 Empirical Inference Autonomous Motion Article BiConMP: A Nonlinear Model Predictive Control Framework for Whole Body Motion Planning Meduri, A., Shah, P., Viereck, J., Khadiv, M., Havoutis, I., Righetti, L. IEEE Transactions on Robotics, 39(2):905-922, IEEE, 2023 (Published) DOI URL BibTeX

Embodied Vision Autonomous Motion Movement Generation and Control Conference Paper Visual-Inertial and Leg Odometry Fusion for Dynamic Locomotion Dhédin, V., Li, H., Khorshidi, S., Mack, L., Ravi, A. K. C., Meduri, A., Shah, P., Grimminger, F., Righetti, L., Khadiv, M., et al. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2023 (Published) preprint video DOI URL 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 Nonlinear Stochastic Trajectory Optimization for Centroidal Momentum Motion Generation of Legged Robots Gazar, A., Khadiv, M., Kleff, S., DelPrete, A., Righetti, L. In Robotics Research, :420-435, Springer Proceedings in Advanced Robotics, 27, (Editors: Billard, Aude and Asfour, Tamim and Khatib, Oussama), Springer, Cham, 20th International Symposium on Robotics Research (ISRR 2022), September 2022 (Published) DOI URL BibTeX

Movement Generation and Control Empirical Inference Article Model-free reinforcement learning for robust locomotion using demonstrations from trajectory optimization Bogdanovic, M., Khadiv, M., Righetti, L. Frontiers in Robotics and AI, 9, August 2022 (Published) DOI BibTeX

Movement Generation and Control Conference Paper iRiSC: Iterative Risk Sensitive Control for Nonlinear Systems with Imperfect Observations Hammoud, B., Jordana, A., Righetti, L. In 2022 American Control Conference (ACC 2022), :3550-3557, IEEE, Piscataway, NJ, American Control Conference (ACC 2022), June 2022 (Published) DOI BibTeX

Movement Generation and Control Article Stagewise Newton Method for Dynamic Game Control With Imperfect State Observation Jordana, A., Hammoud, B., Carpentier, J., Righetti, L. IEEE Control Systems Letters, 6:3241-3246, IEEE, Piscataway, NJ, USA, 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 Article Robust walking based on MPC with viability guarantees Yeganegi, M. H., Khadiv, M., Prete, A. D., Moosavian, S. A. A., Righetti, L. IEEE Transactions on Robotics, October 2021, Accepted (Accepted) URL BibTeX

Empirical Inference Software Workshop Movement Generation and Control Article The o80 C++ templated toolbox: Designing customized Python APIs for synchronizing realtime processes Berenz, V., Naveau, M., Widmaier, F., Wüthrich, M., Passy, J., Guist, S., Büchler, D. Journal of Open Source Software, 6(66), October 2021 (Published) DOI URL BibTeX

Movement Generation and Control Conference Paper Rapid Convex Optimization of Centroidal Dynamics using Block Coordinate Descent Shah, P., Meduri, A., Merkt, W., Khadiv, M., Havoutis, I., Righetti, L. In Proceedings of the International Conference on Intelligent Robots and Systems (IROS 2021) , IEEE, 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2021) in Prague, Czech Republic., September 2021, Accepted (Accepted) URL BibTeX

Movement Generation and Control Article Impedance Optimization for Uncertain Contact Interactions Through Risk Sensitive Optimal Control Hammoud, B., Khadiv, M., Righetti, L. IEEE Robotics and Automation Letters, Robotics and Automation Letters, 6(3):4766-4773, IEEE, July 2021 (Published) DOI 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 High-frequency nonlinear model predictive control of a manipulator Kleff, S., Meduri, A., Budhiraja, R., Mansard, N., Righetti, L. In 2021 IEEE International Conference on Robotics and Automation (ICRA), :7330-7336 , The 2021 International Conference on Robotics and Automation (ICRA 2021), June 2021 (Published) DOI 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

Movement Generation and Control Article Variable Horizon MPC with Swing Foot Dynamics for Bipedal Walking Control Daneshmand, E., Khadiv, M., Grimminger, F., Righetti, L. IEEE Robotics and Automation Letters, 6(2):2349-2356, April 2021 (Published) DOI URL BibTeX

Movement Generation and Control Article Efficient Multi-Contact Pattern Generation with Sequential Convex Approximations of the Centroidal Dynamics Ponton, B., Khadiv, M., Meduri, A., Righetti, L. IEEE Transactions on Robotics, 37(5):1661-1679, IEEE, February 2021 (Published) DOI URL BibTeX

Intelligent Control Systems Movement Generation and Control Probabilistic Numerics Empirical Inference Article Robot Learning with Crash Constraints Marco, A., Baumann, D., Khadiv, M., Hennig, P., Righetti, L., Trimpe, S. IEEE Robotics and Automation Letters, 6(2):1439-1446, IEEE, February 2021 (Published) DOI URL BibTeX

Movement Generation and Control Conference Paper Meta-Learning via Learned Loss Bechtle, S., Molchanov, A., Chebotar, Y., Grefenstette, E., Righetti, L., Sukhatme, G., Meier, F. In 2020 25th International Conference on Pattern Recognition (ICPR), IEEE, January 2021 (Published) BibTeX

Movement Generation and Control Article Reactive Balance Control for Legged Robots under Visco-Elastic Contacts Flayols, T., Prete, A. D., Khadiv, M., Mansard, N., Righetti, L. Applied Sciences, 11(1), MDPI, 2021 (Published) DOI URL BibTeX

Movement Generation and Control Article Jerk Control of Floating Base Systems With Contact-Stable Parameterized Force Feedback Gazar, A., Nava, G., Chavez, F. J. A., Pucci, D. IEEE Transactions on Robotics, 37(1):1-15, IEEE, 2021 (Published) DOI BibTeX

Movement Generation and Control Article On the use of simulation in robotics: Opportunities challenges, and suggestions for moving forward Choi, H., Crump, C., Duriez, C., Elmquist, A., Hager, G., Han, D., Hearl, F., Hodgins, J., Jain, A., Leve, F., et al. PNAS, 118(1), December 2020 (Published) DOI 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 Article Learning Variable Impedance Control for Contact Sensitive Tasks Bogdanovic, M., Khadiv, M., Righetti, L. IEEE Robotics and Automation Letters, 5(4), IEEE, October 2020 (Published) DOI BibTeX

Movement Generation and Control Article Walking Control Based on Step Timing Adaptation Khadiv, M., Herzog, A., Moosavian, S. A. A., Righetti, L. IEEE Transactions on Robotics, 36(3):629-643, IEEE, June 2020 (Published) DOI URL BibTeX

Movement Generation and Control Conference Paper Crocoddyl: An efficient and versatile framework for multi-contact optimal control Mastalli, C., Budhiraja, R., Merkt, W., Saurel, G., Hammoud, B., Naveau, M., Carpentier, J., Righetti, L., Vijayakumar, S., Mansard, N. In Proceedings of the IEEE International Conference on Robotics and Automation, IEEE, International Conference on Robotics and Automation, May 2020 (Published) 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

Dynamic Locomotion Movement Generation and Control Autonomous Motion Empirical Inference Robotics Article An Open Torque-Controlled Modular Robot Architecture for Legged Locomotion Research Grimminger, F., Meduri, A., Khadiv, M., Viereck, J., Wüthrich, M., Naveau, M., Berenz, V., Heim, S., Widmaier, F., Flayols, T., et al. IEEE Robotics and Automation Letters, 5(2):3650-3657, IEEE, April 2020 (Published) Youtube Open Dynamic Robot Initiative DOI URL BibTeX

Movement Generation and Control Article Robust Humanoid Contact Planning with Learned Zero-and One-Step Capturability Prediction Lin, Y., Righetti, L., Berenson, D. IEEE Robotics and Automation Letters, Robotics and Automation Letters, 5:2451-2458, IEEE, February 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 Article Epstein, Project Maven, and Some Reasons to Think About Where We Get Our Funding [Ethical, Legal, and Societal Issues] Bretl, T., Righetti, L., Madhavan, R. IEEE Robotics & Automation Magazine, 26, December 2019 () 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 Article Unintended Consequences of Biased Robotic and Artificial Intelligence Systems [Ethical, Legal, and Societal Issues] Righetti, L., Madhavan, R., Chatila, R. IEEE Robotics & Automation Magazine, 26, September 2019 (Published) 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

Autonomous Motion Movement Generation and Control Conference Paper Leveraging Contact Forces for Learning to Grasp Merzic, H., Bogdanovic, M., Kappler, D., Righetti, L., Bohg, J. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA) 2019, IEEE, International Conference on Robotics and Automation, May 2019 () video arXiv BibTeX

Movement Generation and Control Article Optimal Stair Climbing Pattern Generation for Humanoids Using Virtual Slope and Distributed Mass Model Shahrokhshahi, A., Yousefi-Koma, A., Khadiv, M., Mansouri, S., Mohtasebi, S. S. Journal of Intelligent and Robotics Systems, 94:1:43-59, April 2019 (Published) DOI BibTeX

Movement Generation and Control Article A Robustness Analysis of Inverse Optimal Control of Bipedal Walking Rebula, J. R., Schaal, S., Finley, J., Righetti, L. IEEE Robotics and Automation Letters, 4(4):4531-4538, 2019 (Published) DOI BibTeX

Movement Generation and Control Article Birch tar production does not prove Neanderthal behavioral complexity Schmidt, P., Blessing, M., Rageot, M., Iovita, R., Pfleging, J., Nickel, K. G., Righetti, L., Tennie, C. Proceedings of the National Academy of Sciences (PNAS), 116(36):17707-17711, 2019 (Published) DOI BibTeX

Movement Generation and Control Article Rigid vs compliant contact: an experimental study on biped walking Khadiv, M., Moosavian, S. A. A., Yousefi-Koma, A., Sadedel, M., Ehsani-Seresht, A., Mansouri, S. Multibody System Dynamics, 45(4):379-401, 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

Perceiving Systems Movement Generation and Control Article Robust Physics-based Motion Retargeting with Realistic Body Shapes Borno, M. A., Righetti, L., Black, M. J., Delp, S. L., Fiume, E., Romero, J. Computer Graphics Forum, 37:6:1-12, July 2018 () pdf video BibTeX

Movement Generation and Control Autonomous Motion Conference Paper An MPC Walking Framework With External Contact Forces Mason, S., Rotella, N., Schaal, S., Righetti, L. In 2018 IEEE International Conference on Robotics and Automation (ICRA), :1785-1790, IEEE, Brisbane, Australia, May 2018 () DOI URL BibTeX

Movement Generation and Control Article Learning a Structured Neural Network Policy for a Hopping Task. Viereck, J., Kozolinsky, J., Herzog, A., Righetti, L. IEEE Robotics and Automation Letters, 3(4):4092-4099, October 2018 () DOI URL BibTeX

Movement Generation and Control Autonomous Motion Conference Paper Learning Task-Specific Dynamics to Improve Whole-Body Control Gams, A., Mason, S., Ude, A., Schaal, S., Righetti, L. In Hua, IEEE, Beijing, China, November 2018 () URL BibTeX

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