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TC Virtual Poster Session and Networking Event 2024


The Technical Committee on Model-Based Optimization for Robotics will hold a virtual poster session and networking event on July 11th, 2024 (9:00-11:30 AM EDT, 3:00-5:30 PM CEST, 10:00 PM - 12:30 AM JST). We will kick off the event with a short welcome and then hold poster sessions on Posters covering recent conferences and journals, and/or other work in progress will be presented.

There will be a best poster award valued at $250 (procedures to be explained during the event).

Event Details

Date/Time: July 11th, 2024, 9:00-11:30 AM EDT (3:00-5:30 PM CEST, 10:00 PM - 12:30 AM JST)

Schedule (all times are in EDT) - there is an overlap of 30 minutes between the two poster sessions:

Time Schedule Item Link
9:00 - 9:05 AM Welcome
9:05 - 10:30 AM Poster Session 1 (room 1 and 2)
10:00 - 11:25 AM Poster Session 2 (room 3 and 4)
11:25 - 11:30 AM Closing remarks

Session 1 Posters

Room 1

Impact-aware bimanual catching of large-momentum objects, Lei Yan, Theodoros Stouraitis, João Moura, Wenfu Xu, Michael Gienger, Sethu Vijayakumar

MPCGPU: Real-Time Nonlinear Model Predictive Control through Preconditioned Conjugate Gradient on the GPU, Emre Adabag, Miloni Atal, William Gerard, Brian Plancher

TinyMPC: Model-Predictive Control on Resource-Constrained Microcontrollers, Khai Nguyen, Sam Schoedel, Anouska Alavilli, Brian Plancher, Zac Manchester

Gradient Descent-Based Task-Orientation Robot Control Enhanced with Gaussian Process Predictions, Loris Roveda, Marco Pavone

Learning to Climb Vertical Ladders with Quadruped Robots using Carpal-Claw Design, Shafeef Omar, Majid Khadiv, Victor Barasuol, Giulio Turrisi, Claudio Semini

Hierarchical sparse programming for inverse kinematic control under selection constraints, Kai Pfeiffer

Receding-Constraint Model Predictive Control using a Learned Approximate Control-Invariant Set, Gianni Lunardi, Asia La Rocca, Matteo Saveriano, Andrea Del Prete

Room 2

Multi-Contact Inertial Estimation and Localization in Legged Robots, Sergi Martinez Robert Griffin, Carlos Mastalli

Leveraging augmented-Lagrangian techniques for efficiently differentiating over feasible and infeasible quadratic programs, Fabian Schramm, Antoine Bambade, Quentin Le Lidec, Adrien Taylor, Justin Carpentier

Condensed semi-implicit dynamics for trajectory optimization in soft robotics, Etienne Menager

Fast Decentralized State Estimation for Legged Robot Locomotion via EKF and MHE, Jiarong Kang, Yi Wang

Multi-agent energy-efficient trajectory planning in ocean environments using accelerated successive convex approximation, Lavish Arora, Basil M. Idrees, Ketan Rajawat

Force Feedback Model-Predictive Control via Online Estimation, Sébastien Kleff, Armand Jordana, Justin Carpentier, Nicolas Mansard, Ludovic Righetti

Session 2 Posters

Room 3

Who Plays First? Optimizing the Order of Play in Stackelberg Games with Many Robots, Haimin Hu, Gabriele Dragotto, Zixu Zhang, Kaiqu Liang, Bartolomeo Stellato, Jaime F Fisac

Non-Gaited Legged Locomotion with Monte-Carlo Tree Search and Supervised Learning, Ilyass Taouil, Lorenzo Amatucci, Majid Khadiv, Angela Dai, Victor Barasuol, Giulio Turrisi, Claudio Semini

Diffusion-based Contact Planner for Agile Locomotion on Stepping Stones, Adithya Ravi, Victor Dhédin, Armand Jordana, Huaijiang Zhu, Avadesh Meduri, Ludovic Righetti, Bernhard Scholkopf, Majid Khadiv

Can lower-limb exoskeletons support sit-to-stand motions in frail elderly without crutches? A study combining optimal control and motion capture, Jan C. L. Lau and Katja Mombaur

Physically-Consistent Parameter Identification of Robots in Contact, Shahram Khorshidi, Benno Nederkorn, Majid Khadiv

On locally quadratic neural network architectures, Julianna Schneider, Steve Heim, Sangbae Kim

Safe Learning of Locomotion Skills from MPC, Xun Pua, Majid Khadiv

Room 4

From Compliant to Rigid Contact Simulation: a Unified and Efficient Approach, Justin Carpentier, Quentin Le Lidec, Louis Montaut

Simultaneous Trajectory Optimization and Contact Selection for Contact-rich Manipulation with High-Fidelity Geometry, Mengchao Zhang, Devesh K. Jha, Arvind U. Raghunathan, Kris Hauser

Constrained Articulated Body Algorithms, Ajay Suresha Sathya and Justin Carpentier

STRIDE: An Open-Source, Low-Cost, and Versatile Bipedal Robot Platform for Research and Education, Yicheng Zeng, Yuhao Huang

Risk-Sensitive Extended Kalman Filter, Armand Jordana, Avadesh Meduri , Etienne Arlaud , Justin Carpentier and Ludovic Righetti

Controlling Robots under Contact Timing Uncertainties, Haizhou Zhao, Majid Khadiv