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Articles

[2510.10332] Towards Safe Maneuvering of Double-Ackermann-Steering Robots with a Soft Actor-Critic Framework

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By Mélodie Hani Daniel, Miguel A. Aranda, Olivier Ly, Aly Magassouba
| arxiv.org
arXiv:2510.10332 (cs) View PDF HTML (experimental) Comments: Subjects: Robotics (cs.RO); Artificial Intelligence (cs.AI) Cite as: arXiv:2510.10332 [cs.RO] (or arXiv:2510.10332v1 [cs.RO] for this version) https://doi.org/10.48550/arXiv.2510.10332 Submission history From: Mélodie Daniel [ view email] [v1] Sat, 11 Oct 2025 20:30:37 UTC (603 KB) Bibliographic Tools Bibliographic Explorer Toggle Bibliographic Explorer () Connected Papers Toggle Connected Papers (What is Connected Papers?) Litmaps...
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FRASA: An End-to-End Reinforcement Learning Agent for Fall Recovery and Stand Up of Humanoid Robots

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By Grégoire Passault, Mélodie Hani Daniel, Olivier Ly, Marc Duclusaud
| arxiv.org
[Submitted on 11 Oct 2024] Title:FRASA: An End-to-End Reinforcement Learning Agent for Fall Recovery and Stand Up of Humanoid Robots View a PDF of the paper titled FRASA: An End-to-End Reinforcement Learning Agent for Fall Recovery and Stand Up of Humanoid Robots, by Cl\'ement Gaspard and 4 other authors View PDF HTML (experimental) Abstract:Humanoid robotics faces significant challenges in achieving stable locomotion and recovering from falls in dynamic environments.
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FootstepNet: an Efficient Actor-Critic Method for Fast On-line Bipedal Footstep Planning and Forecasting

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By Mélodie Hani Daniel, Olivier Ly, Grégoire Passault
| arxiv.org
[Submitted on 19 Mar 2024] Title:FootstepNet: an Efficient Actor-Critic Method for Fast On-line Bipedal Footstep Planning and Forecasting Download a PDF of the paper titled FootstepNet: an Efficient Actor-Critic Method for Fast On-line Bipedal Footstep Planning and Forecasting, by Cl\'ement Gaspard and 3 other authors Download PDF HTML (experimental) Abstract:Designing a humanoid locomotion controller is challenging and classically split up in sub-problems.
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