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Mathieu Geisert
ORCID
Publication Activity (10 Years)
Years Active: 2014-2023
Publications (10 Years): 19
Top Topics
Legged Locomotion
Optimal Control
Actor Critic
Reinforcement Learning
Top Venues
CoRR
ICRA
IEEE Trans. Robotics
Humanoids
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Publications
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Alexander L. Mitchell
,
Wolfgang Merkt
,
Mathieu Geisert
,
Siddhant Gangapurwala
,
Martin Engelcke
,
Oiwi Parker Jones
,
Ioannis Havoutis
,
Ingmar Posner
VAE-Loco: Versatile Quadruped Locomotion by Learning a Disentangled Gait Representation.
IEEE Trans. Robotics
39 (5) (2023)
Alexander L. Mitchell
,
Wolfgang Merkt
,
Mathieu Geisert
,
Siddhant Gangapurwala
,
Martin Engelcke
,
Oiwi Parker Jones
,
Ioannis Havoutis
,
Ingmar Posner
Next Steps: Learning a Disentangled Gait Representation for Versatile Quadruped Locomotion.
ICRA
(2022)
Siddhant Gangapurwala
,
Mathieu Geisert
,
Romeo Orsolino
,
Maurice F. Fallon
,
Ioannis Havoutis
RLOC: Terrain-Aware Legged Locomotion Using Reinforcement Learning and Optimal Control.
IEEE Trans. Robotics
38 (5) (2022)
Alexander L. Mitchell
,
Wolfgang Merkt
,
Mathieu Geisert
,
Siddhant Gangapurwala
,
Martin Engelcke
,
Oiwi Parker Jones
,
Ioannis Havoutis
,
Ingmar Posner
VAE-Loco: Versatile Quadruped Locomotion by Learning a Disentangled Gait Representation.
CoRR
(2022)
Oliwier Melon
,
Romeo Orsolino
,
David Surovik
,
Mathieu Geisert
,
Ioannis Havoutis
,
Maurice F. Fallon
Receding-Horizon Perceptive Trajectory Optimization for Dynamic Legged Locomotion with Learned Initialization.
ICRA
(2021)
Siddhant Gangapurwala
,
Mathieu Geisert
,
Romeo Orsolino
,
Maurice F. Fallon
,
Ioannis Havoutis
Real-Time Trajectory Adaptation for Quadrupedal Locomotion using Deep Reinforcement Learning.
ICRA
(2021)
Oliwier Melon
,
Romeo Orsolino
,
David Surovik
,
Mathieu Geisert
,
Ioannis Havoutis
,
Maurice F. Fallon
Receding-Horizon Perceptive Trajectory Optimization for Dynamic Legged Locomotion with Learned Initialization.
CoRR
(2021)
Alexander L. Mitchell
,
Wolfgang Merkt
,
Mathieu Geisert
,
Siddhant Gangapurwala
,
Martin Engelcke
,
Oiwi Parker Jones
,
Ioannis Havoutis
,
Ingmar Posner
Next Steps: Learning a Disentangled Gait Representation for Versatile Quadruped Locomotion.
CoRR
(2021)
Romeo Orsolino
,
Siddhant Gangapurwala
,
Oliwier Melon
,
Mathieu Geisert
,
Ioannis Havoutis
,
Maurice F. Fallon
Rapid Stability Margin Estimation for Contact-Rich Locomotion.
IROS
(2021)
Oliwier Melon
,
Mathieu Geisert
,
David Surovik
,
Ioannis Havoutis
,
Maurice F. Fallon
Reliable Trajectories for Dynamic Quadrupeds using Analytical Costs and Learned Initializations.
CoRR
(2020)
Siddhant Gangapurwala
,
Mathieu Geisert
,
Romeo Orsolino
,
Maurice F. Fallon
,
Ioannis Havoutis
RLOC: Terrain-Aware Legged Locomotion using Reinforcement Learning and Optimal Control.
CoRR
(2020)
Oliwier Melon
,
Mathieu Geisert
,
David Surovik
,
Ioannis Havoutis
,
Maurice F. Fallon
Reliable Trajectories for Dynamic Quadrupeds using Analytical Costs and Learned Initializations.
ICRA
(2020)
David Surovik
,
Oliwier Melon
,
Mathieu Geisert
,
Maurice F. Fallon
,
Ioannis Havoutis
Learning an Expert Skill-Space for Replanning Dynamic Quadruped Locomotion over Obstacles.
CoRL
(2020)
Mathieu Geisert
,
Thomas Yates
,
Asil Orgen
,
Pierre Fernbach
,
Ioannis Havoutis
Contact Planning for the ANYmal Quadruped Robot using an Acyclic Reachability-Based Planner.
CoRR
(2019)
Mathieu Geisert
,
Thomas Yates
,
Asil Orgen
,
Pierre Fernbach
,
Ioannis Havoutis
Contact Planning for the ANYmal Quadruped Robot Using an Acyclic Reachability-Based Planner.
TAROS (1)
(2019)
Nicolas Mansard
,
A. DelPrete
,
Mathieu Geisert
,
Steve Tonneau
,
Olivier Stasse
Using a Memory of Motion to Efficiently Warm-Start a Nonlinear Predictive Controller.
ICRA
(2018)
Mathieu Geisert
,
Andrea Del Prete
,
Nicolas Mansard
,
Francesco Romano
,
Francesco Nori
Regularized Hierarchical Differential Dynamic Programming.
IEEE Trans. Robotics
33 (4) (2017)
Mathieu Geisert
,
Nicolas Mansard
Trajectory Generation for Quadrotor Based Systems using Numerical Optimal Control.
CoRR
(2016)
Mathieu Geisert
,
Nicolas Mansard
Trajectory generation for quadrotor based systems using numerical optimal control.
ICRA
(2016)
Olivier Stasse
,
F. Morsillo
,
Mathieu Geisert
,
Nicolas Mansard
,
Maximilien Naveau
,
Christian Vassallo
Airbus/future of aircraft factory HRP-2 as universal worker proof of concept.
Humanoids
(2014)