with R. Jeong, F. Romano, J. Kay, D. Khosid, and K. Bousmalis
Learning Dexterous Manipulation from Suboptimal Experts
References
Jeong, Rae, et al. "Learning Dexterous Manipulation from Suboptimal Experts." arXiv preprint arXiv:2010.08587 (2020).
Learning real-world tasks from simulations
with R. Jeong, F. Romano, J. Kay, D. Khosid, and K. Bousmalis
Self-Supervised Sim-to-Real Adaptation for Visual Robotic Manipulation
Modelling Generalized Forces with Reinforcement Learning for Sim-to-Real Transfer
References
Jeong, Rae, et al. "Self-supervised sim-to-real adaptation for visual robotic manipulation." 2020 IEEE International Conference on Robotics and Automation (ICRA). IEEE, 2020.
Jeong, Rae, et al. "Modelling Generalized Forces with Reinforcement Learning for Sim-to-Real Transfer." arXiv preprint arXiv:1910.09471 (2019).
Learning real-world tasks with minimal prior
with M. Martins, G. Vezzani, T. Lampe, M. Neunert, M. Riedmiller
Ball-in-a-cup
Peg-in-hole
References
Schwab, Devin, et al. "Simultaneously learning vision and feature-based control policies for real-world ball-in-a-cup." arXiv preprint arXiv:1902.04706 (2019).
Vezzani, Giulia, et al. ""What, not how"--Solving an under-actuated insertion task from scratch." arXiv preprint arXiv:2010.15492 (2020).
Whole-body dynamics with contact switching
with D. Pucci, F. Romano, G. Nava, S. Traversaro, S. Dafarra and F. Andrade
References
Dafarra S., Romano F. & Nori F. 2016, ‘Torque-Controlled Stepping-Strategy Push Recovery: Design and Implementation on the iCub Humanoid Robot’, IEEE-RAS International Conference on Humanoid Robots, Cancun, Mexico,November 15-17 2016.
Pucci D., Nava G. & Nori F. 2016, ‘An Automatic Gain Tuning Method of a Momentum Based Balancing Controller for Humanoid Robots’, IEEE/RAS International Conference of Humanoids Robots, Cancun, Mexico,November 15-17 2016.
Nuno Guedelha, Naveen Kuppuswamy, Silvio Traversaro & Francesco Nori 2016, ‘Self-calibration of Joint Offsets for Humanoid Robots Using Accelerometer Measurements’, 2016 IEEE-RAS International Conference on Humanoid Robots.
Whole-Body Dynamics Control
with D. Pucci, F. Romano and G. Nava
References
Nori F., Traversaro S., Eljaik J., Romano F., Del Prete A. & Pucci D. 2015, ‘iCub whole-body control through force regulation on rigid non-coplanar contacts’, Frontiers in Robotics and AI.
Pucci D., Romano F. & Nori F. 2015, ‘Collocated Adaptive Control of Underactuated Mechanical Systems’, IEEE Transactions on Robotics.
Whole-Body Dynamics Modeling and Identification
with S. Traversaro, R. Camoriano
References
Mingo H.E., Traversaro S., Alessio R., Mirko F., Settimi A., Romano F., Natale L., Bicchi A., Nori F. & Tsagarakis G. Nikos 2014, ‘A YARP based plugin for Gazebo Simulator’, 2014 Modelling and Simulation for Autonomous Systems, Rome, Italy, 5-6, May, 2014.
Whole-Body Dynamics Estimation
with S. Traversaro, M. Fumagalli and S. Ivaldi
References
Nori F., Kuppuswamy N. & Traversaro S. 2015, ‘Simultaneous state and dynamics estimation in articulated structures’, IEEE/RSJ International Conference on Intelligent Robots and Systems (2015), Hamburg, Germany, October (29 September - 1 October, 2015).
S. Traversaro, A. Del Prete, S. Ivaldi, and F. Nori. Inertial parameters identification and joint torques estimation with proximal force/torque sensing. In Robotics and Automation (ICRA), 2015 IEEE Inter- national Conference on, pages 2105–2110. IEEE, 2015.
Ciliberto C., Fiorio L., Maggiali M., Natale L.R. L., Metta G., Sandini G. & Nori F. 2014, ‘Exploiting global force torque measurements for local compliance estimation in tactile arrays’, IEEE/RSJ International Conference on Intelligent Robots and Systems, Chicago, Illinois, September 14-18, 2014.
Fumagalli M., Ivaldi S., Randazzo M., Natale L., Metta G., Sandini G. & Nori F. 2012, ‘Force feedback exploiting tactile and proximal force/torque sensing. Theory and implementation on the humanoid robot iCub.’, Autonomous Robots, vol. 33,no. 4, pp. 381–398.
