Wolfgang Merkt

73 papers A* 7A 8Misc 1Journal 44Unranked 13
YearRankTypeTitle / Venue / Authors
2025 A conf
Adaptive Manipulation using Behavior Trees.
IROS
Jacques Cloete, Wolfgang Merkt, Ioannis Havoutis
2025 J jnl
Perceptive Locomotion Through Whole-Body MPC and Optimal Region Selection.
IEEE Access
Thomas Corbères, Carlos Mastalli, Wolfgang Merkt, Jaehyun Shim, Ioannis Havoutis, Maurice F. Fallon, Nicolas Mansard, Thomas Flayols, Sethu Vijayakumar, Steve Tonneau
2025 — conf
Reference Free Platform Adaptive Locomotion for Quadrupedal Robots using a Dynamics Conditioned Policy.
ECMR
David Rytz, Suyoung Choi, Wanming Yu, Wolfgang Merkt, Jemin Hwangbo, Ioannis Havoutis
2025 J jnl
Reference Free Platform Adaptive Locomotion for Quadrupedal Robots using a Dynamics Conditioned Policy.
CoRR
David Rytz, Suyoung Choi, Wanming Yu, Wolfgang Merkt, Jemin Hwangbo, Ioannis Havoutis
2024 J jnl
Adaptive Manipulation using Behavior Trees.
CoRR
Jacques Cloete, Wolfgang Merkt, Ioannis Havoutis
2024 Misc conf
Gaitor: Learning a Unified Representation Across Gaits for Real-World Quadruped Locomotion.
CoRL
Alexander Luis Mitchell, Wolfgang Merkt, Aristotelis Papatheodorou, Ioannis Havoutis, Ingmar Posner
2024 J jnl
Gaitor: Learning a Unified Representation Across Gaits for Real-World Quadruped Locomotion.
CoRR
Alexander L. Mitchell, Wolfgang Merkt, Aristotelis Papatheodorou, Ioannis Havoutis, Ingmar Posner
2024 — conf
Learning and deploying robust locomotion policies with minimal dynamics randomization.
L4DC
Luigi Campanaro, Siddhant Gangapurwala, Wolfgang Merkt, Ioannis Havoutis
2024 A conf
Momentum-Aware Trajectory Optimisation using Full-Centroidal Dynamics and Implicit Inverse Kinematics.
IROS
Aristotelis Papatheodorou, Wolfgang Merkt, Alexander L. Mitchell, Ioannis Havoutis
2024 A* conf
R-LGP: A Reachability-guided Logic-geometric Programming Framework for Optimal Task and Motion Planning on Mobile Manipulators.
ICRA
Kim Tien Ly, Valeriy Semenov, Mattia Risiglione, Wolfgang Merkt, Ioannis Havoutis
2023 — conf
Asymptotically Optimized Multi-Surface Coverage Path Planning for Loco-Manipulation in Inspection and Monitoring.
CASE
Kim Tien Ly, Matthew Munks, Wolfgang Merkt, Ioannis Havoutis
2023 J jnl
Motion planning in dynamic environments using context-aware human trajectory prediction.
Robotics Auton. Syst.
Mark Nicholas Finean, Luka Petrovic, Wolfgang Merkt, Ivan Markovic, Ioannis Havoutis
2023 J jnl
Perceptive Locomotion through Whole-Body MPC and Optimal Region Selection.
CoRR
Thomas Corbères, Carlos Mastalli, Wolfgang Merkt, Ioannis Havoutis, Maurice F. Fallon, Nicolas Mansard, Thomas Flayols, Sethu Vijayakumar, Steve Tonneau
2023 J jnl
R-LGP: A Reachability-guided Logic-geometric Programming Framework for Optimal Task and Motion Planning on Mobile Manipulators.
CoRR
Kim Tien Ly, Valeriy Semenov, Mattia Risiglione, Wolfgang Merkt, Ioannis Havoutis
2023 J jnl
RoLoMa: robust loco-manipulation for quadruped robots with arms.
Auton. Robots
Henrique Ferrolho, Vladimir Ivan, Wolfgang Merkt, Ioannis Havoutis, Sethu Vijayakumar
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
Towards Agility: A Momentum Aware Trajectory Optimisation Framework using Full-Centroidal Dynamics & Implicit Inverse Kinematics.
CoRR
Aristotelis Papatheodorou, Wolfgang Merkt, Alexander L. Mitchell, 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
A feasibility-driven approach to control-limited DDP.
Auton. Robots
Carlos Mastalli, Wolfgang Merkt, Josep Marti-Saumell, Henrique Ferrolho, Joan Solà, Nicolas Mansard, Sethu Vijayakumar
2022 J jnl
Agile Maneuvers in Legged Robots: a Predictive Control Approach.
CoRR
Carlos Mastalli, Wolfgang Merkt, Guiyang Xin, Jaehyun Shim, Michael N. Mistry, Ioannis Havoutis, Sethu Vijayakumar
2022 J jnl
Learning and Deploying Robust Locomotion Policies with Minimal Dynamics Randomization.
CoRR
Luigi Campanaro, Siddhant Gangapurwala, Wolfgang Merkt, Ioannis Havoutis
2022 J jnl
Motion Planning in Dynamic Environments Using Context-Aware Human Trajectory Prediction.
CoRR
Mark Nicholas Finean, Luka Petrovic, Wolfgang Merkt, Ivan Markovic, Ioannis Havoutis
2022 J jnl
Multi-Agent Chance-Constrained Stochastic Shortest Path with Application to Risk-Aware Intelligent Intersection.
CoRR
Majid Khonji, Rashid Alyassi, Wolfgang Merkt, Areg Karapetyan, Xin Huang, Sungkweon Hong, Jorge Dias, Brian C. Williams
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
RoLoMa: Robust Loco-Manipulation for Quadruped Robots with Arms.
CoRR
Henrique Ferrolho, Vladimir Ivan, Wolfgang Merkt, Ioannis Havoutis, Sethu Vijayakumar
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
2022 J jnl
Where Should I Look? Optimised Gaze Control for Whole-Body Collision Avoidance in Dynamic Environments.
IEEE Robotics Autom. Lett.
Mark Nicholas Finean, Wolfgang Merkt, Ioannis Havoutis
2021 A* conf
A Passive Navigation Planning Algorithm for Collision-free Control of Mobile Robots.
ICRA
Carlo Tiseo, Vladimir Ivan, Wolfgang Merkt, Ioannis Havoutis, Michael N. Mistry, Sethu Vijayakumar
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
HapFIC: An Adaptive Force/Position Controller for Safe Environment Interaction in Articulated Systems.
CoRR
Carlo Tiseo, Wolfgang Merkt, Keyhan Kouhkiloui Babarahmati, Wouter Wolfslag, Ioannis Havoutis, Sethu Vijayakumar, Michael N. Mistry
2021 A* conf
Inverse Dynamics vs. Forward Dynamics in Direct Transcription Formulations for Trajectory Optimization.
ICRA
Henrique Ferrolho, Vladimir Ivan, Wolfgang Merkt, Ioannis Havoutis, Sethu Vijayakumar
2021 J jnl
Memory Clustering Using Persistent Homology for Multimodality- and Discontinuity-Sensitive Learning of Optimal Control Warm-Starts.
IEEE Trans. Robotics
Wolfgang Merkt, Vladimir Ivan, Traiko Dinev, Ioannis Havoutis, Sethu Vijayakumar
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
Predicted Composite Signed-Distance Fields for Real-Time Motion Planning in Dynamic Environments.
ICAPS
Mark Nicholas Finean, Wolfgang Merkt, Ioannis Havoutis
2021 A conf
Rapid Convex Optimization of Centroidal Dynamics using Block Coordinate Descent.
IROS
Paarth Shah, Avadesh Meduri, Wolfgang Merkt, Majid Khadiv, Ioannis Havoutis, Ludovic Righetti
2021 J jnl
Rapid Convex Optimization of Centroidal Dynamics using Block Coordinate Descent.
CoRR
Paarth Shah, Avadesh Meduri, Wolfgang Merkt, Majid Khadiv, Ioannis Havoutis, Ludovic Righetti
2021 J jnl
Residual force polytope: Admissible task-space forces of dynamic trajectories.
Robotics Auton. Syst.
Henrique Ferrolho, Wolfgang Merkt, Carlo Tiseo, Sethu Vijayakumar
2021 A conf
Simultaneous Scene Reconstruction and Whole-Body Motion Planning for Safe Operation in Dynamic Environments.
IROS
Mark Nicholas Finean, Wolfgang Merkt, Ioannis Havoutis
2021 J jnl
Simultaneous Scene Reconstruction and Whole-Body Motion Planning for Safe Operation in Dynamic Environments.
CoRR
Mark Nicholas Finean, Wolfgang Merkt, Ioannis Havoutis
2021 A* conf
Sparsity-Inducing Optimal Control via Differential Dynamic Programming.
ICRA
Traiko Dinev, Wolfgang Merkt, Vladimir Ivan, Ioannis Havoutis, Sethu Vijayakumar
2021 J jnl
Where Should I Look? Optimised Gaze Control for Whole-Body Collision Avoidance in Dynamic Environments.
CoRR
Mark Nicholas Finean, Wolfgang Merkt, Ioannis Havoutis
2020 J jnl
A Direct-Indirect Hybridization Approach to Control-Limited DDP.
CoRR
Carlos Mastalli, Wolfgang Merkt, Josep Marti-Saumell, Joan Solà, Nicolas Mansard, Sethu Vijayakumar
2020 J jnl
A Passive Navigation Planning Algorithm for Collision-free Control of Mobile Robots.
CoRR
Carlo Tiseo, Vladimir Ivan, Wolfgang Merkt, Ioannis Havoutis, Michael N. Mistry, Sethu Vijayakumar
2020 — conf
Bio-mimetic Adaptive Force/Position Control Using Fractal Impedance.
BioRob
Carlo Tiseo, Wolfgang Merkt, Keyhan Kouhkiloui Babarahmati, Wouter Wolfslag, Sethu Vijayakumar, Michael N. Mistry
2020 J jnl
Bio-mimetic Adaptive Force/Position Control Using Fractal Impedance.
CoRR
Carlo Tiseo, Wolfgang Merkt, Keyhan Kouhkiloui Babarahmati, Wouter Wolfslag, Sethu Vijayakumar, Michael N. Mistry
2020 A* conf
Crocoddyl: An Efficient and Versatile Framework for Multi-Contact Optimal Control.
ICRA
Carlos Mastalli, Rohan Budhiraja, Wolfgang Merkt, Guilhem Saurel, Bilal Hammoud, Maximilien Naveau, Justin Carpentier, Ludovic Righetti, Sethu Vijayakumar, Nicolas Mansard
2020 J jnl
Inverse Dynamics vs. Forward Dynamics in Direct Transcription Formulations for Trajectory Optimization.
CoRR
Henrique Ferrolho, Vladimir Ivan, Wolfgang Merkt, Ioannis Havoutis, Sethu Vijayakumar
2020 J jnl
Learning Whole-body Motor Skills for Humanoids.
CoRR
Chuanyu Yang, Kai Yuan, Wolfgang Merkt, Taku Komura, Sethu Vijayakumar, Zhibin Li
2020 J jnl
Memory Clustering using Persistent Homology for Multimodality- and Discontinuity-Sensitive Learning of Optimal Control Warm-starts.
CoRR
Wolfgang Merkt, Vladimir Ivan, Traiko Dinev, Ioannis Havoutis, Sethu Vijayakumar
2020 A conf
Modeling and Control of a Hybrid Wheeled Jumping Robot.
IROS
Traiko Dinev, Songyan Xin, Wolfgang Merkt, Vladimir Ivan, Sethu Vijayakumar
2020 J jnl
Modeling and Control of a Hybrid Wheeled Jumping Robot.
CoRR
Traiko Dinev, Songyan Xin, Wolfgang Merkt, Vladimir Ivan, Sethu Vijayakumar
2020 A conf
Optimizing Dynamic Trajectories for Robustness to Disturbances Using Polytopic Projections.
IROS
Henrique Ferrolho, Wolfgang Merkt, Vladimir Ivan, Wouter Wolfslag, Sethu Vijayakumar
2020 J jnl
Optimizing Dynamic Trajectories for Robustness to Disturbances Using Polytopic Projections.
CoRR
Henrique Ferrolho, Wolfgang Merkt, Vladimir Ivan, Wouter Wolfslag, Sethu Vijayakumar
2020 J jnl
Predicted Composite Signed-Distance Fields for Real-Time Motion Planning in Dynamic Environments.
CoRR
Mark Nicholas Finean, Wolfgang Merkt, Ioannis Havoutis
2020 J jnl
Safe and Compliant Control of Redundant Robots Using a Stack of Passive Task-Space Controllers.
CoRR
Carlo Tiseo, Wolfgang Merkt, Wouter Wolfslag, Sethu Vijayakumar, Michael N. Mistry
2020 J jnl
Sparsity-Inducing Optimal Control via Differential Dynamic Programming.
CoRR
Traiko Dinev, Wolfgang Merkt, Vladimir Ivan, Ioannis Havoutis, Sethu Vijayakumar
2019 — conf
Comparing Alternate Modes of Teleoperation for Constrained Tasks.
CASE
Christopher E. Mower, Wolfgang Merkt, Aled Davies, Sethu Vijayakumar
2019 J jnl
Comparing Alternate Modes of Teleoperation for Constrained Tasks.
CoRR
Christopher E. Mower, Wolfgang Merkt, Aled Davies, Sethu Vijayakumar
2019 J jnl
Comparing Metrics for Robustness Against External Perturbations in Dynamic Trajectory Optimization.
CoRR
Henrique Ferrolho, Wolfgang Merkt, Carlo Tiseo, Sethu Vijayakumar
2019 A conf
Continuous-Time Collision Avoidance for Trajectory Optimization in Dynamic Environments.
IROS
Wolfgang Merkt, Vladimir Ivan, Sethu Vijayakumar
2019 J jnl
Crocoddyl: An Efficient and Versatile Framework for Multi-Contact Optimal Control.
CoRR
Carlos Mastalli, Rohan Budhiraja, Wolfgang Merkt, Guilhem Saurel, Bilal Hammoud, Maximilien Naveau, Justin Carpentier, Sethu Vijayakumar, Nicolas Mansard
2019 — conf
Towards Shared Autonomy Applications using Whole-body Control Formulations of Locomanipulation.
CASE
Wolfgang Merkt, Vladimir Ivan, Yiming Yang, Sethu Vijayakumar
2018 J jnl
HDRM: A Resolution Complete Dynamic Roadmap for Real-Time Motion Planning in Complex Scenes.
IEEE Robotics Autom. Lett.
Yiming Yang, Wolfgang Merkt, Vladimir Ivan, Zhibin Li, Sethu Vijayakumar
2018 — conf
Learning Whole-Body Motor Skills for Humanoids.
Humanoids
Chuanyu Yang, Kai Yuan, Wolfgang Merkt, Taku Komura, Sethu Vijayakumar, Zhibin Li
2018 A conf
Leveraging Precomputation with Problem Encoding for Warm-Starting Trajectory Optimization in Complex Environments.
IROS
Wolfgang Merkt, Vladimir Ivan, Sethu Vijayakumar
2018 — conf
Planning in Time-Configuration Space for Efficient Pick-and-Place in Non-Static Environments with Temporal Constraints.
Humanoids
Yiming Yang, Wolfgang Merkt, Vladimir Ivan, Sethu Vijayakumar
2018 — conf
Whole-Body End-Pose Planning for Legged Robots on Inclined Support Surfaces in Complex Environments.
Humanoids
Henrique Ferrolho, Wolfgang Merkt, Yiming Yang, Vladimir Ivan, Sethu Vijayakumar
2017 J jnl
Efficient Humanoid Motion Planning on Uneven Terrain Using Paired Forward-Inverse Dynamic Reachability Maps.
IEEE Robotics Autom. Lett.
Yiming Yang, Wolfgang Merkt, Henrique Ferrolho, Vladimir Ivan, Sethu Vijayakumar
2017 — conf
Robust shared autonomy for mobile manipulation with continuous scene monitoring.
CASE
Wolfgang Merkt, Yiming Yang, Theodoros Stouraitis, Christopher E. Mower, Maurice F. Fallon, Sethu Vijayakumar
2016 J jnl
Scaling Sampling-based Motion Planning to Humanoid Robots.
CoRR
Yiming Yang, Vladimir Ivan, Wolfgang Merkt, Sethu Vijayakumar
2016 — conf
Scaling sampling-based motion planning to humanoid robots.
ROBIO
Yiming Yang, Vladimir Ivan, Wolfgang Merkt, Sethu Vijayakumar