Giulio Turrisi

34 papers A 5Misc 1Journal 26Unranked 2

Year	Rank	Type	Title / Venue / Authors
2026	J	`jnl`	BinWalker: Development and Field Evaluation of a Quadruped Manipulator Platform for Sustainable Litter Collection. CoRR Giulio Turrisi, Angelo Bratta, Giovanni Minelli, Gabriel Fischer Abati, Amir H. Rad, João Carlos Virgolino Soares, Claudio Semini
2026	J	`jnl`	Feedback-MPPI: Fast Sampling-Based MPC via Rollout Differentiation - Adios Low-Level Controllers. IEEE Robotics Autom. Lett. Tommaso Belvedere, Michael Ziegltrum, Giulio Turrisi, Valerio Modugno
2026	J	`jnl`	Primal-Dual iLQR for GPU-Accelerated Learning and Control in Legged Robots. IEEE Robotics Autom. Lett. Lorenzo Amatucci, João Sousa Pinto, Giulio Turrisi, Dominique Orban, Victor Barasuol, Claudio Semini
2025	J	`jnl`	Adaptive Non-Linear Centroidal MPC With Stability Guarantees for Robust Locomotion of Legged Robots. IEEE Robotics Autom. Lett. Mohamed Elobaid, Giulio Turrisi, Lorenzo Rapetti, Giulio Romualdi, Stefano Dafarra, Tomohiro Kawakami, Tomohiro Chaki, Takahide Yoshiike, Claudio Semini, Daniele Pucci
2025	J	`jnl`	BC-MPPI: A Probabilistic Constraint Layer for Safe Model-Predictive Path-Integral Control. CoRR Odichimnma Ezeji, Michael Ziegltrum, Giulio Turrisi, Tommaso Belvedere, Valerio Modugno
2025	J	`jnl`	CroSTAta: Cross-State Transition Attention Transformer for Robotic Manipulation. CoRR Giovanni Minelli, Giulio Turrisi, Victor Barasuol, Claudio Semini
2025	J	`jnl`	Feedback-MPPI: Fast Sampling-Based MPC via Rollout Differentiation - Adios low-level controllers. CoRR Tommaso Belvedere, Michael Ziegltrum, Giulio Turrisi, Valerio Modugno
2025	J	`jnl`	Guided Reinforcement Learning for Omnidirectional 3D Jumping in Quadruped Robots. CoRR Riccardo Bussola, Michele Focchi, Giulio Turrisi, Claudio Semini, Luigi Palopoli
2025	J	`jnl`	Morphological symmetries in robotics. Int. J. Robotics Res. Daniel Felipe Ordoñez Apraez, Giulio Turrisi, Vladimir Kostic, Mario Martín, Antonio Agudo, Francesc Moreno-Noguer, Massimiliano Pontil, Claudio Semini, Carlos Mastalli
2025	J	`jnl`	Non-Gaited Legged Locomotion With Monte-Carlo Tree Search and Supervised Learning. IEEE Robotics Autom. Lett. Ilyass Taouil, Lorenzo Amatucci, Majid Khadiv, Angela Dai, Victor Barasuol, Giulio Turrisi, Claudio Semini
2025	J	`jnl`	On-Line Learning for Planning and Control of Underactuated Robots with Uncertain Dynamics. CoRR Giulio Turrisi, Marco Capotondi, Claudio Gaz, Valerio Modugno, Giuseppe Oriolo, Alessandro De Luca
2025	J	`jnl`	Primal-Dual iLQR for GPU-Accelerated Learning and Control in Legged Robots. CoRR Lorenzo Amatucci, João Sousa Pinto, Giulio Turrisi, Dominique Orban, Victor Barasuol, Claudio Semini
2025	J	`jnl`	Proprioceptive Image: An Image Representation of Proprioceptive Data from Quadruped Robots for Contact Estimation Learning. CoRR Gabriel Fischer Abati, João Carlos Virgolino Soares, Giulio Turrisi, Victor Barasuol, Claudio Semini
2024	A	`conf`	Accelerating Model Predictive Control for Legged Robots through Distributed Optimization. IROS Lorenzo Amatucci, Giulio Turrisi, Angelo Bratta, Victor Barasuol, Claudio Semini
2024	J	`jnl`	Accelerating Model Predictive Control for Legged Robots through Distributed Optimization. CoRR Lorenzo Amatucci, Giulio Turrisi, Angelo Bratta, Victor Barasuol, Claudio Semini
2024	—	`conf`	Dynamics harmonic analysis of robotic systems: Application in data-driven Koopman modelling. L4DC Daniel Felipe Ordoñez Apraez, Vladimir Kostic, Giulio Turrisi, Pietro Novelli, Carlos Mastalli, Claudio Semini, Massimiliano Pontil
2024	A	`conf`	Leveraging Symmetry in RL-based Legged Locomotion Control. IROS Zhi Su, Xiaoyu Huang, Daniel Felipe Ordoñez Apraez, Yunfei Li, Zhongyu Li, Qiayuan Liao, Giulio Turrisi, Massimiliano Pontil, Claudio Semini, Yi Wu, Koushil Sreenath
2024	J	`jnl`	Leveraging Symmetry in RL-based Legged Locomotion Control. CoRR Zhi Su, Xiaoyu Huang, Daniel Felipe Ordoñez Apraez, Yunfei Li, Zhongyu Li, Qiayuan Liao, Giulio Turrisi, Massimiliano Pontil, Claudio Semini, Yi Wu, Koushil Sreenath
2024	J	`jnl`	Morphological Symmetries in Robotics. CoRR Daniel Felipe Ordoñez Apraez, Giulio Turrisi, Vladimir Kostic, Mario Martín, Antonio Agudo, Francesc Moreno-Noguer, Massimiliano Pontil, Claudio Semini, Carlos Mastalli
2024	J	`jnl`	Non-Gaited Legged Locomotion with Monte-Carlo Tree Search and Supervised Learning. CoRR Ilyass Taouil, Lorenzo Amatucci, Majid Khadiv, Angela Dai, Victor Barasuol, Giulio Turrisi, Claudio Semini
2024	A	`conf`	On the Benefits of GPU Sample-Based Stochastic Predictive Controllers for Legged Locomotion. IROS Giulio Turrisi, Valerio Modugno, Lorenzo Amatucci, Dimitrios Kanoulas, Claudio Semini
2024	J	`jnl`	On the Benefits of GPU Sample-Based Stochastic Predictive Controllers for Legged Locomotion. CoRR Giulio Turrisi, Valerio Modugno, Lorenzo Amatucci, Dimitrios Kanoulas, Claudio Semini
2024	J	`jnl`	Online Non-linear Centroidal MPC with Stability Guarantees for Robust Locomotion of Legged Robots. CoRR Mohamed Elobaid, Giulio Turrisi, Lorenzo Rapetti, Giulio Romualdi, Stefano Dafarra, Tomohiro Kawakami, Tomohiro Chaki, Takahide Yoshiike, Claudio Semini, Daniele Pucci
2024	A	`conf`	PACC: A Passive-Arm Approach for High-Payload Collaborative Carrying with Quadruped Robots Using Model Predictive Control. IROS Giulio Turrisi, Lucas Schulze, Vivian Suzano Medeiros, Claudio Semini, Victor Barasuol
2024	J	`jnl`	PACC: A Passive-Arm Approach for High-Payload Collaborative Carrying with Quadruped Robots Using Model Predictive Control. CoRR Giulio Turrisi, Lucas Schulze, Vivian Suzano Medeiros, Claudio Semini, Victor Barasuol
2024	J	`jnl`	VERO: A vacuum-cleaner-equipped quadruped robot for efficient litter removal. J. Field Robotics Lorenzo Amatucci, Giulio Turrisi, Angelo Bratta, Victor Barasuol, Claudio Semini
2023	J	`jnl`	Dynamics Harmonic Analysis of Robotic Systems: Application in Data-Driven Koopman Modelling. CoRR Daniel Felipe Ordoñez Apraez, Vladimir Kostic, Giulio Turrisi, Pietro Novelli, Carlos Mastalli, Claudio Semini, Massimiliano Pontil
2023	J	`jnl`	Fast Convex Visual Foothold Adaptation for Quadrupedal Locomotion. CoRR Shafeef Omar, Lorenzo Amatucci, Giulio Turrisi, Victor Barasuol, Claudio Semini
2023	A	`conf`	Quadrupedal Footstep Planning Using Learned Motion Models of a Black-Box Controller. IROS Ilyass Taouil, Giulio Turrisi, Daniel Schleich, Victor Barasuol, Claudio Semini, Sven Behnke
2023	J	`jnl`	Quadrupedal Footstep Planning using Learned Motion Models of a Black-Box Controller. CoRR Ilyass Taouil, Giulio Turrisi, Daniel Schleich, Victor Barasuol, Claudio Semini, Sven Behnke
2023	—	`conf`	SafeSteps: Learning Safer Footstep Planning Policies for Legged Robots via Model-Based Priors. Humanoids Shafeef Omar, Lorenzo Amatucci, Victor Barasuol, Giulio Turrisi, Claudio Semini
2023	J	`jnl`	SafeSteps: Learning Safer Footstep Planning Policies for Legged Robots via Model-Based Priors. CoRR Shafeef Omar, Lorenzo Amatucci, Victor Barasuol, Giulio Turrisi, Claudio Semini
2022	J	`jnl`	On-Line Learning for Planning and Control of Underactuated Robots With Uncertain Dynamics. IEEE Robotics Autom. Lett. Giulio Turrisi, Marco Capotondi, Claudio Gaz, Valerio Modugno, Giuseppe Oriolo, Alessandro De Luca
2019	Misc	`conf`	An Online Learning Procedure for Feedback Linearization Control without Torque Measurements. CoRL Marco Capotondi, Giulio Turrisi, Claudio Gaz, Valerio Modugno, Giuseppe Oriolo, Alessandro De Luca