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Luigi Campanaro

dblp:286/5293 · DBLP profile ↗
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1ranked-venue papers
0as first author
1since 2021 · last 2023
—ORCID · none

Domains — the database's venue-derived domains; a paper can count in several

Artificial intelligence and machine learning · 1 · 1 since 2021Systems, architecture and hardware · 1 · 1 since 2021

Expertise — from the expertise taxonomy: the topics of the expert's papers under the CCF categories. A weight counts papers with recency: 1 for a paper about the topic, 0.3 when the topic is its context, halved every five years.

Artificial intelligence
1 paper
Legged, aerial and field robots · 50% Motion planning and robot control · 50%

Topics — the 4 heaviest of 4, each with the papers that count most for it

TopicWeightPapersLastEvidence papers
Robotics › Legged, aerial and field robots › legged robots
legged robot locomotion
0.712023
Learning Low-Frequency Motion Control for Robust and Dynamic Robot Locomotion · ICRA 2023
Robotics › Motion planning and robot control › robot control
motion control
0.712023
Learning Low-Frequency Motion Control for Robust and Dynamic Robot Locomotion · ICRA 2023
Robotics › Legged, aerial and field robots › legged robots › legged robot locomotion
quadruped locomotion
0.712023
Learning Low-Frequency Motion Control for Robust and Dynamic Robot Locomotion · ICRA 2023
Robotics › Motion planning and robot control
robot control
0.712023
Learning Low-Frequency Motion Control for Robust and Dynamic Robot Locomotion · ICRA 2023

Methods — techniques the papers use, named apart from their topics

sim-to-real transfer · 0.7deep reinforcement learning · 0.7
YearPublicationVenuePosition
2023 Learning Low-Frequency Motion Control for Robust and Dynamic Robot Locomotion
abstract
Robotic locomotion is often approached with the goal of maximizing robustness and reactivity by increasing motion control frequency. We challenge this intuitive notion by demonstrating robust and dynamic locomotion with a learned motion controller executing at as low as 8 Hz on a real ANYmal C quadruped. The robot is able to robustly and repeatably achieve a high heading velocity of 1.5 ms-1, traverse uneven terrain, and resist unexpected external perturbations. We further present a comparative analysis of deep reinforcement learning (RL) based motion control policies trained and executed at frequencies ranging from 5 Hz to 200 Hz. We show that low-frequency policies are less sensitive to actuation latencies and variations in system dynamics. This is to the extent that a successful sim- to-real transfer can be performed even without any dynamics randomization or actuation modeling. We support this claim through a set of rigorous empirical evaluations. Moreover, to assist reproducibility, we provide the training and deployment code along with an extended analysis at https://ori-drs.github.io/lfmc/.
Siddhant Gangapurwala, Luigi Campanaro, Ioannis Havoutis
ICRA2