Activities

Workshop: Learning Meets Model-based Methods for Manipulation and Grasping

"Best student paper award:

Learning Plan-Satisficing Motion Policies from Demonstrations

Yanwei Wang (MIT); Nadia Figueroa (UPenn); Shen Li (MIT); Ankit Shah (Brown University); Julie Shah (MIT)"

For more information on this workshop, Click Here.

IROS 2023 Happy Hour

Joint happy hour between the TC on Humanoids and the TC on Model-Based Optimization for Robotics.

TC members gather at IROS 2023

For more information on this event, Click Here.

Workshop: Reactive and Predictive whole-body Control: from human to humanoids

Invited speakers from the IROS 2023 workshop on Reactive and Predictive Whole-body Control were hosted at a dinner to conclude the event.

Speakers from the IROS 2023 workshop gather to celebrate the event's success.

For more information on this workshop, Click Here

2023 Virtual Poster Session

Twenty posters were presented during this live event online. 

A best poster award was given to the following contribution:

CACTO: Continuous Actor-Critic with Trajectory Optimization—Towards global optimality

Gianluigi Grandesso, Elisa Alboni, Gastone P. Rosati Papini, Patrick M. Wensing, Andrea Del Prete"

For more information on this, Click Here

2023 TC Best Paper Award

Winner: Do Differentiable Simulators Give Better Policy Gradients? by H.J. Terry Suh, Max Simchowitz, Kaiqing Zhan, and Russ Tedrake

Finalists:

Collision detection accelerated: An optimization perspective by Louis Montaut, Quentin Le Lidec, Vladimir Petrik, Josef Sivic and Justin Carpentier

Analytical Second-Order Partial Derivatives of Rigid-Body Inverse Dynamics by Shubham Singh, Ryan P. Russell and Patrick M. Wensing

For more information on this Award, Click Here.

ICRA 2023 Happy Hour

Happy hour associated with ICRA 2023. Held at DoubleTree by Hilton London ExCeL.

TC members gather at ICRA 2023.

Previous Events

List of events organized or supported by the IEEE RAS TC on Model-based Optimization for Robotics  

TC organized networking events

• ICRA 2020: TC Poster session and networking event, July 16th, Everywhere in the world. Access links and details: here.

Workshops at Robotics Conferences

• ICRA2021: Recent advances in MPC and RL for legged robots (Majid Khadiv, Farbod Farshidian, Nicolas Mansard, Ludovic Righetti)
• ICRA2021: Teleoperation of Dynamic Legged Robots in Real Scenarios (Kourosh Darvish, Joao Ramos, Rafael Cisneros, Luigi Penco, Eiichi Yoshida, Serena Ivaldi, Daniele Pucci)
• ICRA2021: High Dynamic Motion Generation for Under-Actuated Robots (Yuquan Wang, Abderrahmane Kheddar, Yun-hui Liu)
• IROS2020: MIT Mini-Cheetah Workshop (Sangbae Kim, Patrick Wensing, Inhyuk Kim)
• IROS 2020: Bringing geometric methods to robot learning, optimization and control (Noémie Jaquier, Leonel Rozo, Soren Hauberg, Hans-Peter Schröcker, Suvrit Sra)
• IROS 2019: Novel trends for Design and Optimal Control of Wearable Assistive Technology (Katja Mombaur, Lorenzo Masia)
• IROS 2019: Articulated Actuation Towards Human Capabilities for Robots (Navvab Kashiri, Tom Verstraten, Bram Vanderborght, Stefano Stramigioli, Nikos Tsagarakis, Wesley Roozing)
• RSS 2019: Numerical Optimization for Online Multi-Contact Motion Planning and Control (Romeo Orsolino, Carlos Mastalli, Michele Focchi, Nicolas Mansard)
• ICRA 2019: Continuous Management and Scheduling of multiple simultaneous prioritized Tasks for redundant Robots (Niels Dehio, Abderrahmane Kheddar, Alin Albu-Schäffer)
• ICRA 2019: Toward Online Optimal Control of Dynamic Robots (Farbod Farshidian, Justin Carpentier, Patrick Wensing, Eiichi Yoshida)
• ICRA 2019: Optimal Planning and Control Fusing Offline and Online Algorithms (Manolo Garabini, Tobia Marcucci)
• IROS 2018: Closing the Loop on Human-Robot Symbiosis: Human/Robot in-the-loop Machine Learning Ali Shafti, Roberto Calandra , Marc Peter Deisenroth , Aldo Faisa
• IROS 2017: Human Movement Understanding for Humanoid and Wearable Robots (Dana Kulic, Katja Mombaur)
• ICRA 2017: Robust Perception, Planning, and Control for Legged Robot Locomotion in Challenging Domains(Maurice Fallon, Eiichi Yoshida, Andrea Del Prete, Ioannis Havoutis and Dimitrios Kanoulas)
• SIMPAR 2016: Combining Optimal Control, Reinforcement Learning and Movement Primitives to Achieve Better Robot Motions (Katja Mombaur)
• IROS 2016: Wearable Robotics and Assistive Devices - Part 1 - Exoskeleton Research on the Edge between Robotics & Human Physiology (Tadej Petric, Jan Babic, Katja Mombaur, Myunghee Kim, Steve Collins)
• IROS 2016: Towards a unified workflow for multi contact motion on legged robots (Steve Tonneau, Tim Bretl, Nicolas Mansard and Igor Mordatch)
• ICRA 2016: Robust Optimization-Based Planning and Control for Legged Robots(Andrea de Prete, Russ Tedrake and Alexander Herzog)
• Humanoids 2015: Benchmarking Bipedal Locomotion (Diego Toricelli, Katja Mombaur, Nikos Tsakarakis)
• IROS 2015: Optimization, learning and movement primitives: different approaches to robots motions and their combinations (Katja Mombaur, Diego Torricelli)
• ICRA 2015: Dynamic Locomotion and Balancing of Humanoids (Zhibin Li, Katja Mombaur, Tomomichi Sugihara)
• ICRA 2015: Human Movement Understanding and Neuromechanics (Gentiane Venture, Emel Demircan and Dana Kulic)
• ICRA 2015: Multiple-contacts dynamic interaction: manipulation and whole-body motion (Francesco Nori, Daniele Pucci, Edoardo Farnioli, Marco Gabbicini and Antonio Bicchi)
• Humanoids 2014: Benchmarking Bipedal Locomotion (Diego Torricelli, Katja Mombaur, Nikos Tsagarakis, Alexander Schubert, Jose L. Pons, Zhibin Li)
• RSS 2014:  Optimization techniques for motion generation in robotics (Adrien Escande, Katja Mombaur)
• IROS 2013: Physical Assistive Devices: Model-­based Simulation and Optimization (Katja Mombaur, Angelika Peer, Tamim Asfour)
• IROS 2013: Online and offline optimization for humanoid robots (Eiichi Yoshida, Katja Mombaur, Tom Erez, Yuval Tassa)
• RSS 2013: Inverse Optimal Control & Robot Learning by Demonstration (Byron Boots, Tim Bretl, Katja Mombaur, Brian Ziebart)
• ICRA 2013: Novel Methods for Learning and Optimization of Control Policies and Trajectories for Robotics (Katja Mombaur, Gerhard Neumann, Martin Felis, Jan Peters)
• Humanoids 2012: Generating optimal paths in humanoid and industrial robotics (Katja Mombaur, Martin Felis, Florent Lamiraux and Antonio El Khoury)