Direct Data Driven Natural Gradient Descent for Control - 2026-07-03 - Research Publication - This paper introduces a novel direct data-driven control framework based on Natural Gradient Descent (NGD) to design interpretable and robust closed-loop policies without requiring explicit model identification. - source: arxiv.org
RAI: Flexible Agent Framework for Embodied AI - 2025-05-12 - Research Publication - obotic stacks, Large Language Models, and simulations. It provides out-of-the-box integration with state-of-the-art systems like ROS 2. It also comes with dedicated mechanisms for the embodiment of Agents. These mechanisms… - source: arxiv.org
WMINet: A Wheel-Mounted Inertial Learning Approach For Mobile Robot State Estimation - 2025-03-17 - Research Publication - ethods to reduce inertial drift: a wheel-mounted approach and driving the mobile robot in periodic trajectories. Additionally, we enforce a wheelbase constraint to further improve positioning performance. To evaluate our… - source: arxiv.org