Siddhant Gangapurwala

Publication Activity (10 Years)

Years Active: 2019-2024
Publications (10 Years): 20

Top Topics

Reinforcement Learning

Legged Locomotion

Robotic Control

Top Venues

IEEE Trans. Robotics

Publications

Luigi Campanaro, Siddhant Gangapurwala, Wolfgang Merkt, Ioannis Havoutis
Learning and deploying robust locomotion policies with minimal dynamics randomization. L4DC (2024)
Luigi Campanaro, Daniele De Martini, Siddhant Gangapurwala, Wolfgang Merkt, Ioannis Havoutis
Roll-Drop: accounting for observation noise with a single parameter. L4DC (2023)
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)
Luigi Campanaro, Daniele De Martini, Siddhant Gangapurwala, Wolfgang Merkt, Ioannis Havoutis
Roll-Drop: accounting for observation noise with a single parameter. CoRR (2023)
Siddhant Gangapurwala, Luigi Campanaro, Ioannis Havoutis
Learning Low-Frequency Motion Control for Robust and Dynamic Robot Locomotion. ICRA (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)
Siddhant Gangapurwala, Luigi Campanaro, Ioannis Havoutis
Learning Low-Frequency Motion Control for Robust and Dynamic Robot Locomotion. CoRR (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)
Luigi Campanaro, Siddhant Gangapurwala, Wolfgang Merkt, Ioannis Havoutis
Learning and Deploying Robust Locomotion Policies with Minimal Dynamics Randomization. CoRR (2022)
Siddhant Gangapurwala, Mathieu Geisert, Romeo Orsolino, Maurice F. Fallon, Ioannis Havoutis
Real-Time Trajectory Adaptation for Quadrupedal Locomotion using Deep Reinforcement Learning. ICRA (2021)
Luigi Campanaro, Siddhant Gangapurwala, Daniele De Martini, Wolfgang Merkt, Ioannis Havoutis
CPG-ACTOR: Reinforcement Learning for Central Pattern Generators. CoRR (2021)
Luigi Campanaro, Siddhant Gangapurwala, Daniele De Martini, Wolfgang Merkt, Ioannis Havoutis
CPG-Actor: Reinforcement Learning for Central Pattern Generators. TAROS (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)
Alexander L. Mitchell, Martin Engelcke, Oiwi Parker Jones, David Surovik, Siddhant Gangapurwala, Oliwier Melon, Ioannis Havoutis, Ingmar Posner
First Steps: Latent-Space Control with Semantic Constraints for Quadruped Locomotion. IROS (2020)
Siddhant Gangapurwala, Alexander L. Mitchell, Ioannis Havoutis
Guided Constrained Policy Optimization for Dynamic Quadrupedal Robot Locomotion. 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)
Siddhant Gangapurwala, Alexander L. Mitchell, Ioannis Havoutis
Guided Constrained Policy Optimization for Dynamic Quadrupedal Robot Locomotion. IEEE Robotics Autom. Lett. 5 (2) (2020)
William Jones, Siddhant Gangapurwala, Ioannis Havoutis, Kazuya Yoshida
Towards Generating Simulated Walking Motion Using Position Based Deep Reinforcement Learning. TAROS (2) (2019)