3 papers indexed
Aswin Ramachandran, Christopher Golling, Sebastian Burmester, Noa Sendlhofer, Jan Kamm, Ruiheng Jiang, et al.
Robotic choreography in open water is governed by nonlinear fluid dynamics, which impose significant challenges due to environmental disturbances and nonlinear system dynamics. This paper presents the cyber-physical architecture of Way of Water, a vertically integrated framework…
Ruiheng Jiang, Thomas Bi, Raffaello D'Andrea, Aswin Ramachandran
Autonomous surface vehicles vary widely in hydrodynamic and actuation characteristics, yet most controllers are designed for single-platform deployment. We present an adaptive reinforcement learning approach for trajectory tracking that enables zero-shot cross-platform deployment…
Ethan Marot, Thomas Bi, Clemens Schwarke, Victor Klemm, Marco Hutter, Raffaello D'Andrea
As humanoid robots become increasingly dynamic, coupling them with reinforcement learning offers a promising approach to solving the complex, underactuated mechanics of passive inline skating. Equipping a humanoid robot with passive inline skating wheels presents an opportunity t…