Alexander Schperberg

25 papers A* 1A 5Journal 17Unranked 1
YearRankTypeTitle / Venue / Authors
2026 J jnl
GRAM: Generalization in Deep RL With a Robust Adaptation Module.
IEEE Robotics Autom. Lett.
James Queeney, Xiaoyi Cai, Alexander Schperberg, Radu Corcodel, Mouhacine Benosman, Jonathan P. How
2026 J jnl
PRISM: Performer RS-IMLE for Single-pass Multisensory Imitation Learning.
CoRR
Amisha Bhaskar, Pratap Tokekar, Stefano Di Cairano, Alexander Schperberg
2026 J jnl
Safe Whole-Body Loco-Manipulation via Combined Model and Learning-based Control.
CoRR
Alexander Schperberg, Yeping Wang, Stefano Di Cairano
2025 A conf
Energy-Efficient Motion Planner for Legged Robots.
IROS
Alexander Schperberg, Marcel Menner, Stefano Di Cairano
2025 J jnl
Energy-Efficient Motion Planner for Legged Robots.
CoRR
Alexander Schperberg, Marcel Menner, Stefano Di Cairano
2025 A conf
Energy-constrained multi-robot exploration for autonomous map building.
IROS
Sambhu H. Karumanchi, Bhagawan Rokaha, Alexander Schperberg, Abraham P. Vinod
2025 J jnl
MOBIUS: A Multi-Modal Bipedal Robot that can Walk, Crawl, Climb, and Roll.
CoRR
Alexander Schperberg, Yusuke Tanaka, Stefano Di Cairano, Dennis W. Hong
2025 J jnl
SCALER: Versatile Multilimbed Robot for Free-Climbing in Extreme Terrains.
IEEE Trans. Robotics
Yusuke Tanaka, Yuki Shirai, Alexander Schperberg, Xuan Lin, Dennis W. Hong
2024 A* conf
OptiState: State Estimation of Legged Robots using Gated Networks with Transformer-based Vision and Kalman Filtering.
ICRA
Alexander Schperberg, Yusuke Tanaka, Saviz Mowlavi, Feng Xu, Bharathan Balaji, Dennis W. Hong
2024 J jnl
OptiState: State Estimation of Legged Robots using Gated Networks with Transformer-based Vision and Kalman Filtering.
CoRR
Alexander Schperberg, Yusuke Tanaka, Saviz Mowlavi, Feng Xu, Bharathan Balaji, Dennis W. Hong
2024 — —
Towards Intelligent Robotic Systems: Unifying Model-based Optimization and Machine Learning for Planning, Control, and Estimation
Alexander Schperberg
2023 — conf
Adaptive Force Controller for Contact-Rich Robotic Systems using an Unscented Kalman Filter.
Humanoids
Alexander Schperberg, Yuki Shirai, Xuan Lin, Yusuke Tanaka, Dennis W. Hong
2023 J jnl
SCALER: Versatile Multi-Limbed Robot for Free-Climbing in Extreme Terrains.
CoRR
Yusuke Tanaka, Yuki Shirai, Alexander Schperberg, Xuan Lin, Dennis W. Hong
2022 J jnl
Auto-Calibrating Admittance Controller for Robust Motion of Robotic Systems.
CoRR
Alexander Schperberg, Yuki Shirai, Xuan Lin, Yusuke Tanaka, Dennis W. Hong
2022 J jnl
Auto-Tuning of Controller and Online Trajectory Planner for Legged Robots.
IEEE Robotics Autom. Lett.
Alexander Schperberg, Stefano Di Cairano, Marcel Menner
2022 J jnl
Learning Near-global-optimal Strategies for Hybrid Non-convex Model Predictive Control of Single Rigid Body Locomotion.
CoRR
Xuan Lin, Feng Xu, Alexander Schperberg, Dennis W. Hong
2022 J jnl
Real-to-Sim: Deep Learning with Auto-Tuning to Predict Residual Errors using Sparse Data.
CoRR
Alexander Schperberg, Yusuke Tanaka, Feng Xu, Marcel Menner, Dennis W. Hong
2022 A conf
SCALER: A Tough Versatile Quadruped Free-Climber Robot.
IROS
Yusuke Tanaka, Yuki Shirai, Xuan Lin, Alexander Schperberg, Hayato Kato, Alexander Swerdlow, Naoya Kumagai, Dennis W. Hong
2022 J jnl
SCALER: A Tough Versatile Quadruped Free-Climber Robot.
CoRR
Yusuke Tanaka, Yuki Shirai, Xuan Lin, Alexander Schperberg, Hayato Kato, Alexander Swerdlow, Naoya Kumagai, Dennis W. Hong
2022 A conf
Simultaneous Contact-Rich Grasping and Locomotion via Distributed Optimization Enabling Free-Climbing for Multi-Limbed Robots.
IROS
Yuki Shirai, Xuan Lin, Alexander Schperberg, Yusuke Tanaka, Hayato Kato, Varit Vichathorn, Dennis W. Hong
2022 J jnl
Simultaneous Contact-Rich Grasping and Locomotion via Distributed Optimization Enabling Free-Climbing for Multi-Limbed Robots.
CoRR
Yuki Shirai, Xuan Lin, Alexander Schperberg, Yusuke Tanaka, Hayato Kato, Varit Vichathorn, Dennis W. Hong
2021 J jnl
SABER: Data-Driven Motion Planner for Autonomously Navigating Heterogeneous Robots.
CoRR
Alexander Schperberg, Stephanie Tsuei, Stefano Soatto, Dennis W. Hong
2021 J jnl
SABER: Data-Driven Motion Planner for Autonomously Navigating Heterogeneous Robots.
IEEE Robotics Autom. Lett.
Alexander Schperberg, Stephanie Tsuei, Stefano Soatto, Dennis W. Hong
2020 A conf
Risk-Averse MPC via Visual-Inertial Input and Recurrent Networks for Online Collision Avoidance.
IROS
Alexander Schperberg, Kenny Chen, Stephanie Tsuei, Michael Jewett, Joshua Hooks, Stefano Soatto, Ankur Mehta, Dennis W. Hong
2020 J jnl
Risk-Averse MPC via Visual-Inertial Input and Recurrent Networks for Online Collision Avoidance.
CoRR
Alexander Schperberg, Kenny Chen, Stephanie Tsuei, Michael Jewett, Joshua Hooks, Stefano Soatto, Ankur Mehta, Dennis W. Hong