Siddhant Gangapurwala

21 papers A* 3A 2Journal 12Unranked 4

Year	Rank	Type	Title / Venue / Authors
2025	J	`jnl`	GeCCo - a Generalist Contact-Conditioned Policy for Loco-Manipulation Skills on Legged Robots. CoRR Vassil Atanassov, Wanming Yu, Siddhant Gangapurwala, James Wilson, Ioannis Havoutis
2024	—	`conf`	Learning and deploying robust locomotion policies with minimal dynamics randomization. L4DC Luigi Campanaro, Siddhant Gangapurwala, Wolfgang Merkt, Ioannis Havoutis
2023	A*	`conf`	Learning Low-Frequency Motion Control for Robust and Dynamic Robot Locomotion. ICRA Siddhant Gangapurwala, Luigi Campanaro, Ioannis Havoutis
2023	—	`conf`	Roll-Drop: accounting for observation noise with a single parameter. L4DC Luigi Campanaro, Daniele De Martini, Siddhant Gangapurwala, Wolfgang Merkt, Ioannis Havoutis
2023	J	`jnl`	Roll-Drop: accounting for observation noise with a single parameter. CoRR Luigi Campanaro, Daniele De Martini, Siddhant Gangapurwala, Wolfgang Merkt, Ioannis Havoutis
2023	J	`jnl`	VAE-Loco: Versatile Quadruped Locomotion by Learning a Disentangled Gait Representation. IEEE Trans. Robotics Alexander L. Mitchell, Wolfgang Merkt, Mathieu Geisert, Siddhant Gangapurwala, Martin Engelcke, Oiwi Parker Jones, Ioannis Havoutis, Ingmar Posner
2022	J	`jnl`	Learning Low-Frequency Motion Control for Robust and Dynamic Robot Locomotion. CoRR Siddhant Gangapurwala, Luigi Campanaro, Ioannis Havoutis
2022	J	`jnl`	Learning and Deploying Robust Locomotion Policies with Minimal Dynamics Randomization. CoRR Luigi Campanaro, Siddhant Gangapurwala, Wolfgang Merkt, Ioannis Havoutis
2022	A*	`conf`	Next Steps: Learning a Disentangled Gait Representation for Versatile Quadruped Locomotion. ICRA Alexander L. Mitchell, Wolfgang Merkt, Mathieu Geisert, Siddhant Gangapurwala, Martin Engelcke, Oiwi Parker Jones, Ioannis Havoutis, Ingmar Posner
2022	J	`jnl`	RLOC: Terrain-Aware Legged Locomotion Using Reinforcement Learning and Optimal Control. IEEE Trans. Robotics Siddhant Gangapurwala, Mathieu Geisert, Romeo Orsolino, Maurice F. Fallon, Ioannis Havoutis
2022	J	`jnl`	VAE-Loco: Versatile Quadruped Locomotion by Learning a Disentangled Gait Representation. CoRR Alexander L. Mitchell, Wolfgang Merkt, Mathieu Geisert, Siddhant Gangapurwala, Martin Engelcke, Oiwi Parker Jones, Ioannis Havoutis, Ingmar Posner
2021	J	`jnl`	CPG-ACTOR: Reinforcement Learning for Central Pattern Generators. CoRR Luigi Campanaro, Siddhant Gangapurwala, Daniele De Martini, Wolfgang Merkt, Ioannis Havoutis
2021	—	`conf`	CPG-Actor: Reinforcement Learning for Central Pattern Generators. TAROS Luigi Campanaro, Siddhant Gangapurwala, Daniele De Martini, Wolfgang Merkt, Ioannis Havoutis
2021	J	`jnl`	Next Steps: Learning a Disentangled Gait Representation for Versatile Quadruped Locomotion. CoRR Alexander L. Mitchell, Wolfgang Merkt, Mathieu Geisert, Siddhant Gangapurwala, Martin Engelcke, Oiwi Parker Jones, Ioannis Havoutis, Ingmar Posner
2021	A	`conf`	Rapid Stability Margin Estimation for Contact-Rich Locomotion. IROS Romeo Orsolino, Siddhant Gangapurwala, Oliwier Melon, Mathieu Geisert, Ioannis Havoutis, Maurice F. Fallon
2021	A*	`conf`	Real-Time Trajectory Adaptation for Quadrupedal Locomotion using Deep Reinforcement Learning. ICRA Siddhant Gangapurwala, Mathieu Geisert, Romeo Orsolino, Maurice F. Fallon, Ioannis Havoutis
2020	A	`conf`	First Steps: Latent-Space Control with Semantic Constraints for Quadruped Locomotion. IROS Alexander L. Mitchell, Martin Engelcke, Oiwi Parker Jones, David Surovik, Siddhant Gangapurwala, Oliwier Melon, Ioannis Havoutis, Ingmar Posner
2020	J	`jnl`	Guided Constrained Policy Optimization for Dynamic Quadrupedal Robot Locomotion. CoRR Siddhant Gangapurwala, Alexander L. Mitchell, Ioannis Havoutis
2020	J	`jnl`	Guided Constrained Policy Optimization for Dynamic Quadrupedal Robot Locomotion. IEEE Robotics Autom. Lett. Siddhant Gangapurwala, Alexander L. Mitchell, Ioannis Havoutis
2020	J	`jnl`	RLOC: Terrain-Aware Legged Locomotion using Reinforcement Learning and Optimal Control. CoRR Siddhant Gangapurwala, Mathieu Geisert, Romeo Orsolino, Maurice F. Fallon, Ioannis Havoutis
2019	—	`conf`	Towards Generating Simulated Walking Motion Using Position Based Deep Reinforcement Learning. TAROS (2) William Jones, Siddhant Gangapurwala, Ioannis Havoutis, Kazuya Yoshida