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Effective control and prediction of dynamical systems often require appropriate handling of continuous-time and discrete, event-triggered processes. Stochastic hybrid systems (SHSs), common across engineering domains, provide a formalism…

Skateboards offer a compact and efficient means of transportation as a type of personal mobility device. However, controlling them with legged robots poses several challenges for policy learning due to perception-driven interactions and…

Legged robots must adapt their gait to navigate unpredictable environments, a challenge that animals master with ease. However, most deep reinforcement learning (DRL) approaches to quadruped locomotion rely on a fixed gait, limiting…

This paper addresses the challenge of terrain-adaptive dynamic locomotion in humanoid robots, a problem traditionally tackled by optimization-based methods or reinforcement learning (RL). Optimization-based methods, such as model-predictive…

Modeling interaction dynamics to generate robot trajectories that enable a robot to adapt and react to a human's actions and intentions is critical for efficient and effective collaborative Human-Robot Interactions (HRI). Learning from…

Reduced-order models are powerful for analyzing and controlling high-dimensional dynamical systems. Yet constructing these models for complex hybrid systems such as legged robots remains challenging. Classical approaches rely on…

Developing agile behaviors for legged robots remains a challenging problem. While deep reinforcement learning is a promising approach, learning truly agile behaviors typically requires tedious reward shaping and careful curriculum design.…

Differentiable simulators promise to improve sample efficiency in robot learning by providing analytic gradients of the system dynamics. Yet, their application to contact-rich tasks like locomotion is complicated by the inherently…

Industrial robots are widely used in diverse manufacturing environments. Nonetheless, how to enable robots to automatically plan trajectories for changing tasks presents a considerable challenge. Further complexities arise when robots…

This work explores the potential of using differentiable simulation for learning quadruped locomotion. Differentiable simulation promises fast convergence and stable training by computing low-variance first-order gradients using robot…

Hybrid systems, such as bipedal walkers, are challenging to control because of discontinuities in their nonlinear dynamics. Little can be predicted about the systems' evolution without modeling the guard conditions that govern transitions…

Hybrid dynamical systems, i.e. systems that have both continuous and discrete states, are ubiquitous in engineering, but are difficult to work with due to their discontinuous transitions. For example, a robot leg is able to exert very…

This article presents Platform Adaptive Locomotion (PAL), a unified control method for quadrupedal robots with different morphologies and dynamics. We leverage deep reinforcement learning to train a single locomotion policy on procedurally…

Dynamic state representation learning is an important task in robot learning. Latent space that can capture dynamics related information has wide application in areas such as accelerating model free reinforcement learning, closing the…

Lane change decision-making for autonomous vehicles is a complex but high-reward behavior. In this paper, we propose a hybrid input based deep reinforcement learning (DRL) algorithm, which realizes abstract lane change decisions and lane…

Performing anomaly detection in hybrid systems is a challenging task since it requires analysis of timing behavior and mutual dependencies of both discrete and continuous signals. Typically, it requires modeling system behavior, which is…

Wheeled-legged robots have the potential for highly agile and versatile locomotion. The combination of legs and wheels might be a solution for any real-world application requiring rapid, and long-distance mobility skills on challenging…

Learning complex trajectories from demonstrations in robotic tasks has been effectively addressed through the utilization of Dynamical Systems (DS). State-of-the-art DS learning methods ensure stability of the generated trajectories;…

We tackle the problem of perceptive locomotion in dynamic environments. In this problem, a quadrupedal robot must exhibit robust and agile walking behaviors in response to environmental clutter and moving obstacles. We present a…

Modern applications increasingly require unsupervised learning of latent dynamics from high-dimensional time-series. This presents a significant challenge of identifiability: many abstract latent representations may reconstruct…