We present a control architecture for real-time adaptation and tracking of trajectories
generated using a terrain-aware trajectory optimization solver. This approach enables us to …

We present a novelapproach to path planning for robotic manipulators, in which paths are
produced via iterative optimisation in the latent space of a generative model of robot poses …

Motion planning framed as optimisation in structured latent spaces has recently emerged as
competitive with traditional methods in terms of planning success while significantly …

Effective control and prediction of dynamical systems require appropriate handling of
continuous-time and discrete, event-triggered processes. Stochastic hybrid systems (SHSs) …

Quadruped locomotion is rapidly maturing to a degree where robots are able to realize
highly dynamic maneuvers. However, current planners are unable to vary key gait …

Quadruped locomotion is rapidly maturing to a degree where robots now routinely traverse a
variety of unstructured terrains. However, while gaits can be varied typically by selecting …

Blind source separation (BSS) serves as an important technique in the field of structural
health monitoring (SHM), particularly for solving modal decomposition tasks. This study …

Learning to navigate unknown environments from scratch is a challenging problem. This
work presents a system that integrates world models with curiosity-driven exploration for …

The current state-of-the-art in quadruped locomotion is able to produce robust motion for
terrain traversal but requires the segmentation of a desired robot trajectory into a discrete set …

Sensorimotor control of complex, dynamic systems such as humanoids or quadrupedal
robots is notoriously difficult. While artificial systems traditionally employ hierarchical …