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Siddhant Gangapurwala
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2020 – today
- 2024
- [c9]Luigi Campanaro, Siddhant Gangapurwala, Wolfgang Merkt, Ioannis Havoutis:
Learning and deploying robust locomotion policies with minimal dynamics randomization. L4DC 2024: 578-590 - 2023
- [j3]Alexander L. Mitchell
, Wolfgang Merkt
VAE-Loco: Versatile Quadruped Locomotion by Learning a Disentangled Gait Representation. IEEE Trans. Robotics 39(5): 3805-3820 (2023) - [c8]Siddhant Gangapurwala, Luigi Campanaro, Ioannis Havoutis:
Learning Low-Frequency Motion Control for Robust and Dynamic Robot Locomotion. ICRA 2023: 5085-5091 - [c7]Luigi Campanaro, Daniele De Martini, Siddhant Gangapurwala, Wolfgang Merkt, Ioannis Havoutis:
Roll-Drop: accounting for observation noise with a single parameter. L4DC 2023: 718-730 - [i8]Luigi Campanaro, Daniele De Martini, Siddhant Gangapurwala, Wolfgang Merkt, Ioannis Havoutis:
Roll-Drop: accounting for observation noise with a single parameter. CoRR abs/2304.13150 (2023) - 2022
- [j2]Siddhant Gangapurwala
RLOC: Terrain-Aware Legged Locomotion Using Reinforcement Learning and Optimal Control. IEEE Trans. Robotics 38(5): 2908-2927 (2022) - [c6]Alexander L. Mitchell, Wolfgang Merkt, Mathieu Geisert, Siddhant Gangapurwala, Martin Engelcke, Oiwi Parker Jones, Ioannis Havoutis, Ingmar Posner:
Next Steps: Learning a Disentangled Gait Representation for Versatile Quadruped Locomotion. ICRA 2022: 10564-10570 - [i7]Alexander L. Mitchell, Wolfgang Merkt, Mathieu Geisert, Siddhant Gangapurwala, Martin Engelcke, Oiwi Parker Jones, Ioannis Havoutis, Ingmar Posner:
VAE-Loco: Versatile Quadruped Locomotion by Learning a Disentangled Gait Representation. CoRR abs/2205.01179 (2022) - [i6]Luigi Campanaro, Siddhant Gangapurwala, Wolfgang Merkt, Ioannis Havoutis:
Learning and Deploying Robust Locomotion Policies with Minimal Dynamics Randomization. CoRR abs/2209.12878 (2022) - [i5]Siddhant Gangapurwala, Luigi Campanaro, Ioannis Havoutis:
Learning Low-Frequency Motion Control for Robust and Dynamic Robot Locomotion. CoRR abs/2209.14887 (2022) - 2021
- [c5]Siddhant Gangapurwala, Mathieu Geisert, Romeo Orsolino, Maurice F. Fallon, Ioannis Havoutis:
Real-Time Trajectory Adaptation for Quadrupedal Locomotion using Deep Reinforcement Learning. ICRA 2021: 5973-5979 - [c4]Romeo Orsolino, Siddhant Gangapurwala, Oliwier Melon, Mathieu Geisert, Ioannis Havoutis, Maurice F. Fallon:
Rapid Stability Margin Estimation for Contact-Rich Locomotion. IROS 2021: 8485-8492 - [c3]Luigi Campanaro, Siddhant Gangapurwala, Daniele De Martini, Wolfgang Merkt, Ioannis Havoutis:
CPG-Actor: Reinforcement Learning for Central Pattern Generators. TAROS 2021: 25-35 - [i4]Luigi Campanaro, Siddhant Gangapurwala, Daniele De Martini, Wolfgang Merkt, Ioannis Havoutis:
CPG-ACTOR: Reinforcement Learning for Central Pattern Generators. CoRR abs/2102.12891 (2021) - [i3]Alexander L. Mitchell, Wolfgang Merkt, Mathieu Geisert, Siddhant Gangapurwala, Martin Engelcke, Oiwi Parker Jones, Ioannis Havoutis, Ingmar Posner:
Next Steps: Learning a Disentangled Gait Representation for Versatile Quadruped Locomotion. CoRR abs/2112.04809 (2021) - 2020
- [j1]Siddhant Gangapurwala
Guided Constrained Policy Optimization for Dynamic Quadrupedal Robot Locomotion. IEEE Robotics Autom. Lett. 5(2): 3642-3649 (2020) - [c2]Alexander L. Mitchell, Martin Engelcke, Oiwi Parker Jones, David Surovik, Siddhant Gangapurwala, Oliwier Melon, Ioannis Havoutis, Ingmar Posner:
First Steps: Latent-Space Control with Semantic Constraints for Quadruped Locomotion. IROS 2020: 5343-5350 - [i2]Siddhant Gangapurwala, Alexander L. Mitchell, Ioannis Havoutis:
Guided Constrained Policy Optimization for Dynamic Quadrupedal Robot Locomotion. CoRR abs/2002.09676 (2020) - [i1]Siddhant Gangapurwala, Mathieu Geisert, Romeo Orsolino, Maurice F. Fallon, Ioannis Havoutis:
RLOC: Terrain-Aware Legged Locomotion using Reinforcement Learning and Optimal Control. CoRR abs/2012.03094 (2020)
2010 – 2019
- 2019
- [c1]William Jones, Siddhant Gangapurwala, Ioannis Havoutis, Kazuya Yoshida
Towards Generating Simulated Walking Motion Using Position Based Deep Reinforcement Learning. TAROS (2) 2019: 467-470
Coauthor Index
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