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2204.08120
Cited By

Neural Gaits: Learning Bipedal Locomotion via Control Barrier Functions
and Zero Dynamics Policies

Neural Gaits: Learning Bipedal Locomotion via Control Barrier Functions and Zero Dynamics Policies

Conference on Learning for Dynamics & Control (L4DC), 2022

18 April 2022

I. D. Rodriguez

Noel Csomay-Shanklin

ArXiv (abs)PDF HTML

Papers citing "Neural Gaits: Learning Bipedal Locomotion via Control Barrier Functions and Zero Dynamics Policies"

5 / 5 papers shown

Diffeomorphic Obstacle Avoidance for Contractive Dynamical Systems via Implicit Representations

Diffeomorphic Obstacle Avoidance for Contractive Dynamical Systems via Implicit Representations

Ken-Joel Simmoteit

Philipp Schillinger

240

1

0

26 Apr 2025

Robust Agility via Learned Zero Dynamics Policies

Robust Agility via Learned Zero Dynamics PoliciesIEEE/RJS International Conference on Intelligent RObots and Systems (IROS), 2024

Noel Csomay-Shanklin

William D. Compton

I. D. Rodriguez

Eric R. Ambrose

Yisong Yue

Aaron D. Ames

170

3

0

10 Sep 2024

Data-Driven Latent Space Representation for Robust Bipedal Locomotion
Learning

Data-Driven Latent Space Representation for Robust Bipedal Locomotion LearningIEEE International Conference on Robotics and Automation (ICRA), 2023

Guillermo A. Castillo

Wei Zhang

108

4

0

27 Sep 2023

Template Model Inspired Task Space Learning for Robust Bipedal
Locomotion

Template Model Inspired Task Space Learning for Robust Bipedal LocomotionIEEE/RJS International Conference on Intelligent RObots and Systems (IROS), 2023

Guillermo A. Castillo

Wei Zhang

189

23

0

27 Sep 2023

FI-ODE: Certifiably Robust Forward Invariance in Neural ODEs

FI-ODE: Certifiably Robust Forward Invariance in Neural ODEs

I. D. Rodriguez

372

3

0

30 Oct 2022