| Learning Robot Soccer from Egocentric Vision with Deep Reinforcement Learning D Tirumala, M Wulfmeier, B Moran, S Huang, J Humplik, G Lever, ... arXiv preprint arXiv:2405.02425, 2024 | | 2024 |
| Learning agile soccer skills for a bipedal robot with deep reinforcement learning T Haarnoja, B Moran, G Lever, SH Huang, D Tirumala, J Humplik, ... Science Robotics 9 (89), eadi8022, 2024 | 1 | 2024 |
| Mastering Stacking of Diverse Shapes with Large-Scale Iterative Reinforcement Learning on Real Robots T Lampe, A Abdolmaleki, S Bechtle, SH Huang, JT Springenberg, ... arXiv preprint arXiv:2312.11374, 2023 | 1 | 2023 |
| RoboCat: A Self-Improving Generalist Agent for Robotic Manipulation K Bousmalis, G Vezzani, D Rao, CM Devin, AX Lee, MB Villalonga, ... Transactions on Machine Learning Research, 2023 | 3 | 2023 |
| Training an action selection system using relative entropy q-learning RC Jeong, JT Springenberg, JO Kay, DHH Zheng, A Galashov, ... US Patent App. 18/008,838, 2023 | | 2023 |
| Robocat: A self-improving foundation agent for robotic manipulation K Bousmalis, G Vezzani, D Rao, C Devin, AX Lee, M Bauza, T Davchev, ... arXiv preprint arXiv:2306.11706, 2023 | 41 | 2023 |
| Nerf2real: Sim2real transfer of vision-guided bipedal motion skills using neural radiance fields A Byravan, J Humplik, L Hasenclever, A Brussee, F Nori, T Haarnoja, ... 2023 IEEE International Conference on Robotics and Automation (ICRA), 9362-9369, 2023 | 25 | 2023 |
| Barkour: Benchmarking animal-level agility with quadruped robots K Caluwaerts, A Iscen, JC Kew, W Yu, T Zhang, D Freeman, KH Lee, ... arXiv preprint arXiv:2305.14654, 2023 | 17 | 2023 |
| Learning agile soccer skills for a bipedal robot with deep reinforcement learning T Haarnoja, B Moran, G Lever, SH Huang, D Tirumala, J Humplik, ... arXiv preprint arXiv:2304.13653, 2023 | 38 | 2023 |
| Analysis of human whole-body joint torques during overhead work with a passive exoskeleton C Latella, Y Tirupachuri, L Tagliapietra, L Rapetti, B Schirrmeister, ... IEEE Transactions on Human-Machine Systems 52 (5), 1060-1068, 2021 | 13 | 2021 |
| Beyond pick-and-place: Tackling robotic stacking of diverse shapes AX Lee, CM Devin, Y Zhou, T Lampe, K Bousmalis, JT Springenberg, ... 5th Annual Conference on Robot Learning, 2021 | 80 | 2021 |
| Icub L Natale, C Bartolozzi, F Nori, G Sandini, G Metta arXiv preprint arXiv:2105.02313, 2021 | 8 | 2021 |
| Domain adaptation for robotic control using self-supervised learning RC Jeong, Y Aytar, D Khosid, Y Zhou, JO Kay, T Lampe, K Bousmalis, ... US Patent App. 17/065,489, 2021 | 1 | 2021 |
| " What, not how": Solving an under-actuated insertion task from scratch G Vezzani, M Neunert, M Wulfmeier, R Jeong, T Lampe, N Siegel, ... arXiv preprint arXiv:2010.15492, 2020 | | 2020 |
| Learning dexterous manipulation from suboptimal experts R Jeong, JT Springenberg, J Kay, D Zheng, Y Zhou, A Galashov, N Heess, ... arXiv preprint arXiv:2010.08587, 2020 | 35 | 2020 |
| Self-supervised sim-to-real adaptation for visual robotic manipulation R Jeong, Y Aytar, D Khosid, Y Zhou, J Kay, T Lampe, K Bousmalis, F Nori 2020 IEEE international conference on robotics and automation (ICRA), 2718-2724, 2020 | 59 | 2020 |
| Momentum-Based Topology Estimation of Articulated Objects Y Tirupachuri, S Traversaro, F Nori, D Pucci Intelligent Systems and Applications: Proceedings of the 2019 Intelligent …, 2020 | | 2020 |
| Towards partner-aware humanoid robot control under physical interactions Y Tirupachuri, G Nava, C Latella, D Ferigo, L Rapetti, L Tagliapietra, ... Intelligent Systems and Applications: Proceedings of the 2019 Intelligent …, 2020 | 16 | 2020 |
| Modelling generalized forces with reinforcement learning for sim-to-real transfer R Jeong, J Kay, F Romano, T Lampe, T Rothorl, A Abdolmaleki, T Erez, ... arXiv preprint arXiv:1910.09471, 2019 | 21 | 2019 |
| Towards real-time whole-body human dynamics estimation through probabilistic sensor fusion algorithms: A physical human–robot interaction case study C Latella, M Lorenzini, M Lazzaroni, F Romano, S Traversaro, MA Akhras, ... Autonomous Robots 43, 1591-1603, 2019 | 17 | 2019 |
| Simultaneous floating-base estimation of human kinematics and joint torques C Latella, S Traversaro, D Ferigo, Y Tirupachuri, L Rapetti, ... Sensors 19 (12), 2794, 2019 | 23 | 2019 |
| A build system for software development in robotic academic collaborative environments DE Domenichelli, S Traversaro, L Muratore, A Rocchi, F Nori, L Natale International Journal of Semantic Computing 13 (02), 185-205, 2019 | 5 | 2019 |
| Model based in situ calibration with temperature compensation of 6 axis force torque sensors FJA Chavez, G Nava, S Traversaro, F Nori, D Pucci 2019 International Conference on Robotics and Automation (ICRA), 5397-5403, 2019 | 10 | 2019 |
| Simultaneously learning vision and feature-based control policies for real-world ball-in-a-cup D Schwab, T Springenberg, MF Martins, T Lampe, M Neunert, ... arXiv preprint arXiv:1902.04706, 2019 | 29 | 2019 |
| An Affordance-based Action Planner for On-line and Concurrent Human-Robot Collaborative Assembly F Stramandinoli, A Roncone, O Mangin, F Nori, B Scassellati 2nd ICRA International Workshop on Computational Models of Affordance in …, 2019 | 2 | 2019 |
| iCub: the open humanoid robot designed for learning and developing complex cognitive tasks G Metta, G Sandini, D Vernon, L Natale, F Nori Proceedings of the 2019 IEEE RSJ International Conference on Intelligent …, 2019 | 3 | 2019 |
| Design and Control of a passive noise rejecting Variable Stiffness Actuator L Fiorio, F Romano, A Parmiggiani, B Berret, G Metta, F Nori Biomechanics of Anthropomorphic Systems, 235-262, 2019 | 1 | 2019 |
| Learning robust task priorities of QP-based whole-body torque-controllers M Charbonneau, V Modugno, F Nori, G Oriolo, D Pucci, S Ivaldi 2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids), 1-9, 2018 | 14 | 2018 |
| Advancing anticipatory behaviors in dyadic human-robot collaboration: The andy project P Maurice, S Ivaldi, L Fritzsche, J Babič, F Stulp, M Damsgaard, ... SIAS 2018-9th International Conference on Safety of Industrial Automated Systems, 2018 | 1 | 2018 |
| A control architecture with online predictive planning for position and torque controlled walking of humanoid robots S Dafarra, G Nava, M Charbonneau, N Guedelha, F Andrade, ... 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems …, 2018 | 18 | 2018 |
| Advancing Human-Robot Collaboration through Online Human Inverse Dynamics Estimation C Latella, L Tagliapietra, D Ferigo, Y Tirupachuri, F Nori, D Pucci 2018 IEEE Workshop on Advanced Robotics and its Social Impacts (ARSO), 21-22, 2018 | | 2018 |
| A plenum-based calibration device for tactile sensor arrays J Kangro, AV Sureshbabu, S Traversaro, D Pucci, F Nori IEEE Robotics and Automation Letters 3 (4), 3937-3943, 2018 | 4 | 2018 |
| Contact force and joint torque estimation using skin FJA Chavez, J Kangro, S Traversaro, F Nori, D Pucci IEEE Robotics and Automation Letters 3 (4), 3900-3907, 2018 | 11 | 2018 |
| A receding horizon push recovery strategy for balancing the icub humanoid robot S Dafarra, F Romano, F Nori Advances in Service and Industrial Robotics: Proceedings of the 26th …, 2018 | 3 | 2018 |
| Safe trajectory optimization for whole-body motion of humanoids V Modugno, G Nava, D Pucci, F Nori, G Oriolo, S Ivaldi 2017 IEEE-RAS 17th International Conference on Humanoid Robotics (Humanoids …, 2017 | 7 | 2017 |
| Modeling and control of humanoid robots in dynamic environments: Icub balancing on a seesaw G Nava, D Pucci, N Guedelha, S Traversaro, F Romano, S Dafarra, F Nori 2017 IEEE-RAS 17th International Conference on Humanoid Robotics (Humanoids …, 2017 | 8 | 2017 |
| The codyco project achievements and beyond: Toward human aware whole-body controllers for physical human robot interaction F Romano, G Nava, M Azad, J Čamernik, S Dafarra, O Dermy, C Latella, ... IEEE Robotics and Automation Letters 3 (1), 516-523, 2017 | 31 | 2017 |
| Optimizing task feasibility using model-free policy search and model-based whole-body control R Lober, J Eljaik, G Nava, S Dafarra, F Romano, D Pucci, S Traversaro, ... IEEE International Conference on Robotics and Automation, submitted, 2017 | 3 | 2017 |
| Momentum control of humanoid robots with series elastic actuators G Nava, D Pucci, F Nori 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems …, 2017 | 6 | 2017 |
| Momentum control of an underactuated flying humanoid robot D Pucci, S Traversaro, F Nori IEEE Robotics and Automation Letters 3 (1), 195-202, 2017 | 41 | 2017 |
| An optimization based control framework for balancing and walking: Implementation on the icub robot M Charbonneau, G Nava, F Nori, D Pucci arXiv preprint arXiv:1707.08359, 2017 | 1 | 2017 |
| Inverse, forward and other dynamic computations computationally optimized with sparse matrix factorizations F Nori 2017 IEEE International Conference on Real-time Computing and Robotics (RCAR …, 2017 | 1 | 2017 |
| Anticipatory models of human movements and dynamics: the roadmap of the andy project S Ivaldi, L Fritzsche, J Babič, F Stulp, M Damsgaard, B Graimann, ... Digital Human Models (DHM), 2017 | 21 | 2017 |
| A Predictive Momentum-Based Whole-Body Torque Controller: Theory and Simulations for the iCub Stepping S Dafarra, F Romano, G Nava, F Nori arXiv preprint arXiv:1705.10635, 2017 | | 2017 |
| Skin normal force calibration using vacuum bags J Kangro, S Traversaro, D Pucci, F Nori 2017 IEEE International Conference on Robotics and Automation (ICRA), 401-406, 2017 | 8 | 2017 |
| Control of humanoid robot motions with impacts: Numerical experiments with reference spreading control M Rijnen, E De Mooij, S Traversaro, F Nori, N Van De Wouw, A Saccon, ... 2017 IEEE International Conference on Robotics and Automation (ICRA), 4102-4107, 2017 | 36 | 2017 |
| Heteroscedastic regression and active learning for modeling affordances in humanoids F Stramandinoli, V Tikhanoff, U Pattacini, F Nori IEEE Transactions on Cognitive and Developmental Systems 10 (2), 455-468, 2017 | 8 | 2017 |
| A whole-body software abstraction layer for control design of free-floating mechanical systems F Romano, S Traversaro, D Pucci, J Eljaik, A Del Prete, F Nori 2017 First IEEE International Conference on Robotic Computing (IRC), 148-155, 2017 | 19 | 2017 |
| Whole-body multi-contact motion in humans and humanoids: Advances of the CoDyCo European project V Padois, S Ivaldi, J Babič, M Mistry, J Peters, F Nori Robotics and Autonomous Systems 90, 97-117, 2017 | 23 | 2017 |
| Regularized hierarchical differential dynamic programming M Geisert, A Del Prete, N Mansard, F Romano, F Nori IEEE Transactions on Robotics 33 (4), 819-833, 2017 | 21 | 2017 |
| On centroidal dynamics and integrability of average angular velocity A Saccon, S Traversaro, F Nori, H Nijmeijer IEEE Robotics and Automation Letters 2 (2), 943-950, 2017 | 28 | 2017 |
| Force control and reaching movements on the icub humanoid robot G Metta, L Natale, F Nori, G Sandini Robotics Research: The 15th International Symposium ISRR, 161-182, 2017 | 8 | 2017 |
| Synthesis of a Predictive Push-Recovery Controller: Simulation Results on the iCub Humanoid Robot. S Dafarra, F Romano, F Nori CoRR, 2017 | | 2017 |
| Design and validation of a series rotary elastic actuator for humanoid robots S TISI, S SALICETI, D PUCCI, P SILVESTRI, F NORI, G METTA Advances in Cooperative Robotics, 783-790, 2017 | 1 | 2017 |
| A unified view of the equations of motion used for control design of humanoid robots S Traversaro, D Pucci, F Nori On line, 2017 | 15 | 2017 |
| On-line joint limit avoidance for torque controlled robots by joint space parametrization M Charbonneau, F Nori, D Pucci 2016 IEEE-RAS 16th International Conference on Humanoid Robots (Humanoids …, 2016 | 10 | 2016 |
| Highly dynamic balancing via force control D Pucci, F Romano, S Traversaro, F Nori 2016 IEEE-RAS 16th International Conference on Humanoid Robots (Humanoids …, 2016 | 31 | 2016 |
| Self-calibration of joint offsets for humanoid robots using accelerometer measurements N Guedelha, N Kuppuswamy, S Traversaro, F Nori 2016 IEEE-RAS 16th International Conference on Humanoid Robots (Humanoids …, 2016 | 7 | 2016 |
| Walking on partial footholds including line contacts with the humanoid robot atlas G Wiedebach, S Bertrand, T Wu, L Fiorio, S McCrory, R Griffin, F Nori, ... 2016 IEEE-RAS 16th International Conference on Humanoid Robots (Humanoids …, 2016 | 107 | 2016 |
| Stable bipedal foot planting on uneven terrain through optimal ankle impedance F Romano, N Kuppuswamy, M Ciocca, S Traversaro, F Nori 2016 IEEE-RAS 16th International Conference on Humanoid Robots (Humanoids …, 2016 | 3 | 2016 |
| Automatic gain tuning of a momentum based balancing controller for humanoid robots D Pucci, G Nava, F Nori 2016 IEEE-RAS 16th International Conference on Humanoid Robots (Humanoids …, 2016 | 7 | 2016 |
| Model based in situ calibration of six axis force torque sensors FJA Chavez, S Traversaro, D Pucci, F Nori 2016 IEEE-RAS 16th International Conference on Humanoid Robots (Humanoids …, 2016 | 12 | 2016 |
| Torque-controlled stepping-strategy push recovery: Design and implementation on the iCub humanoid robot S Dafarra, F Romano, F Nori 2016 IEEE-RAS 16th International Conference on Humanoid Robots (Humanoids …, 2016 | 27 | 2016 |
| Walking of the iCub humanoid robot in different scenarios: implementation and performance analysis Y Hu, J Eljaik, K Stein, F Nori, K Mombaur 2016 IEEE-RAS 16th International Conference on Humanoid Robots (Humanoids …, 2016 | 14 | 2016 |
| Stability analysis and design of momentum-based controllers for humanoid robots G Nava, F Romano, F Nori, D Pucci 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems …, 2016 | 73 | 2016 |
| Identification of fully physical consistent inertial parameters using optimization on manifolds S Traversaro, S Brossette, A Escande, F Nori 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems …, 2016 | 69 | 2016 |
| The Static Center of Pressure Sensitivity: a further Criterion to assess Contact Stability and Balancing Controllers F Romano, D Pucci, S Traversaro, F Nori arXiv preprint arXiv:1610.01495, 2016 | | 2016 |
| Grounding speech utterances in robotics affordances: An embodied statistical language model F Stramandinoli, V Tikhanoff, U Pattacini, F Nori 2016 Joint IEEE International Conference on Development and Learning and …, 2016 | 8 | 2016 |
| Robots with a sense of touch C Bartolozzi, L Natale, F Nori, G Metta Nature materials 15 (9), 921-925, 2016 | 271 | 2016 |
| Robots with a sense of touch. F Nori, L Natale, C Bartolozzi, G Metta | | 2016 |
| Squat motion generation for the humanoid robot iCub with Series Elastic Actuators Y Hu, F Nori, K Mombaur 2016 6th IEEE International Conference on Biomedical Robotics and …, 2016 | 9 | 2016 |
| WearDY: Wearable dynamics. A prototype for human whole-body force and motion estimation C Latella, N Kuppuswamy, F Nori AIP Conference Proceedings 1749 (1), 2016 | 2 | 2016 |
| Embodied language learning and cognitive bootstrapping: methods and design principles C Lyon, CL Nehaniv, J Saunders, T Belpaeme, A Bisio, K Fischer, ... International Journal of Advanced Robotic Systems 13 (3), 105, 2016 | 13 | 2016 |
| Whole-body human inverse dynamics with distributed micro-accelerometers, gyros and force sensing C Latella, N Kuppuswamy, F Romano, S Traversaro, F Nori Sensors 16 (5), 727, 2016 | 21 | 2016 |
| Incremental semiparametric inverse dynamics learning R Camoriano, S Traversaro, L Rosasco, G Metta, F Nori 2016 IEEE International Conference on Robotics and Automation (ICRA), 544-550, 2016 | 62 | 2016 |
| Implementing torque control with high-ratio gear boxes and without joint-torque sensors A Del Prete, N Mansard, OE Ramos, O Stasse, F Nori International Journal of Humanoid Robotics 13 (01), 1550044, 2016 | 73 | 2016 |
| The Sensitivity of the Static Center of Pressure as a Criterion to assess Balancing Controllers Performance F Romano, D Pucci, S Traversaro, F Nori CoRR, 2016 | 1 | 2016 |
| Force and motion capture system based on distributed micro-accelerometers, gyros, force and tactile sensing C Latella, N Kuppuswamy, F Nori Conference Proceedings 2nd International Electronic Conference on Sensors …, 2015 | 3 | 2015 |
| Collocated adaptive control of underactuated mechanical systems D Pucci, F Romano, F Nori IEEE Transactions on Robotics 31 (6), 1527-1536, 2015 | 74 | 2015 |
| Multimodal sensor fusion for foot state estimation in bipedal robots using the extended kalman filter J Eljaik, N Kuppuswamy, F Nori 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems …, 2015 | 11 | 2015 |
| Simultaneous state and dynamics estimation in articulated structures F Nori, N Kuppuswamy, S Traversaro 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems …, 2015 | 17 | 2015 |
| A bayesian approach towards affordance learning in artificial agents F Stramandinoli, V Tikhanoff, U Pattacini, F Nori 2015 Joint IEEE International Conference on Development and Learning and …, 2015 | 5 | 2015 |
| Inertial parameters identification and joint torques estimation with proximal force/torque sensing S Traversaro, A Del Prete, S Ivaldi, F Nori 2015 IEEE International Conference on Robotics and Automation (ICRA), 2105-2110, 2015 | 20 | 2015 |
| Prioritized optimal control: A hierarchical differential dynamic programming approach F Romano, A Del Prete, N Mansard, F Nori 2015 IEEE International Conference on Robotics and Automation (ICRA), 3590-3595, 2015 | 18 | 2015 |
| In situ calibration of six-axis force-torque sensors using accelerometer measurements S Traversaro, D Pucci, F Nori 2015 IEEE International Conference on Robotics and Automation (ICRA), 2111-2116, 2015 | 27 | 2015 |
| iCub whole-body control through force regulation on rigid non-coplanar contacts F Nori, S Traversaro, J Eljaik, F Romano, A Del Prete, D Pucci Frontiers in Robotics and AI 2, 6, 2015 | 106 | 2015 |
| Bibo stability and asymptotic stability F Nori system 1, x2, 2015 | 2 | 2015 |
| Whole-body force control of the icub humanoid robot for balancing tasks F Romano, D Pucci, S Traversaro, J Eljaik, F Nori Workshop at IEEE International Conference on Robotics and Automation, 2015 | 1 | 2015 |
| Using optimal control to generate squat motions for the humanoid robot iCub with SEA Y Hu, K Mombaur, F Nori Proceedings of Dynamic Walking, 2015 | 4 | 2015 |
| Force control of the icub humanoid for one-foot balancing and safe interaction F Pucci, D Romano, S Traversaro, J Eljaik, F Nori Workshop at IEEE International Conference on Robotics and Automation, 2015 | 1 | 2015 |
| A generic testing framework for test driven development of robotic systems A Paikan, S Traversaro, F Nori, L Natale Modelling and Simulation for Autonomous Systems: Second International …, 2015 | 13 | 2015 |
| Prioritized motion–force control of constrained fully-actuated robots:“Task Space Inverse Dynamics” A Del Prete, F Nori, G Metta, L Natale Robotics and Autonomous Systems 63, 150-157, 2015 | 65 | 2015 |
| Communicative lifting actions in human-humanoid interaction O Palinko, A Sciutti, L Patané, F Rea, F Nori, G Sandini 2014 IEEE-RAS International Conference on Humanoid Robots, 1116-1121, 2014 | 11 | 2014 |
| Tools for simulating humanoid robot dynamics: a survey based on user feedback S Ivaldi, J Peters, V Padois, F Nori 2014 IEEE-RAS International Conference on Humanoid Robots, 842-849, 2014 | 83 | 2014 |
| Prioritized optimal control AD Prete, F Romano, L Natale, G Metta, G Sandini, F Nori | 4 | 2014 |
| Developmental changes in children understanding robotic actions: The case of lifting A Sciutti, L Patanè, O Palinko, F Nori, G Sandini 4th International Conference on Development and Learning and on Epigenetic …, 2014 | 2 | 2014 |
| Control of physical interaction through tactile and force sensing during visually guided reaching L Jamone, M Fumagalli, L Natale, F Nori, G Metta, G Sandini 2014 IEEE International Symposium on Intelligent Control (ISIC), 1360-1365, 2014 | 6 | 2014 |
| Control of a two-dof manipulator equipped with a pnr-variable stiffness actuator F Romano, L Fiorio, G Sandini, F Nori 2014 IEEE International Symposium on Intelligent Control (ISIC), 1354-1359, 2014 | 5 | 2014 |
| Exploiting global force torque measurements for local compliance estimation in tactile arrays C Ciliberto, L Fiorio, M Maggiali, L Natale, L Rosasco, G Metta, G Sandini, ... 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems …, 2014 | 10 | 2014 |
| Partial force control of constrained floating-base robots A Del Prete, N Mansard, F Nori, G Metta, L Natale 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems …, 2014 | 24 | 2014 |
