The use of simulators in robotics research is widespread, underpinning the majority of recent
advances in the field. There are now more options available to researchers than ever before …

Legged locomotion holds the premise of universal mobility, a critical capability for many real-
world robotic applications. Both model-based and learning-based approaches have …

Dynamic locomotion in rough terrain requires accurate foot placement, collision avoidance,
and planning of the underactuated dynamics of the system. Reliably optimizing for such …

In a world designed for legs, quadrupeds, bipeds, and humanoids have the opportunity to
impact emerging robotics applications from logistics, to agriculture, to home assistance. The …

Legged locomotion is a complex control problem that requires both accuracy and
robustness to cope with real-world challenges. Legged systems have traditionally been …

In this letter, we propose a whole-body planning framework that unifies dynamic locomotion
and manipulation tasks by formulating a single multi-contact optimal control problem. We …

This paper presents an implementation of model predictive control (MPC) to determine
ground reaction forces for a torque-controlled quadruped robot. The robot dynamics are …

We introduce Crocoddyl (Contact RObot COntrol by Differential DYnamic Library), an open-
source framework tailored for efficient multi-contact optimal control. Crocoddyl efficiently …

Achieving versatile robot locomotion requires motor skills that can adapt to previously
unseen situations. We propose a multi-expert learning architecture (MELA) that learns to …

Training a high-dimensional simulated agent with an under-specified reward function often
leads the agent to learn physically infeasible strategies that are ineffective when deployed in …