Publications

Morphological symmetries in robotics
International Journal of Robotics Research (Conditional accept IJRR-2024)
Daniel Ordonez-Apraez, Giulio Turrisi, Vladimir Kostic, Mario Martin, Antonio Agudo, Francesc Moreno-Noguer, Massimiliano Pontil, Claudio Semini, Carlos Mastalli
Code arXiv
Morphological symmetries in robotics
Dynamics Harmonic Analysis of Robotic Systems: Application in Data-Driven Koopman Modeling
Learning for dynamics and control 2024 (L4DC - 2024)
Daniel Ordonez-Apraez, Vladimir Kostic, Giulio Turrisi, Pietro Novelli, Carlos Mastalli, Claudio Semini, Massimiliano Pontil
PDF Code Project Poster Slides PMLR
Dynamics Harmonic Analysis of Robotic Systems: Application in Data-Driven Koopman Modeling
Leveraging Symmetry in RL-based Legged Locomotion Control
International Conference on Intelligent Robots and Systems 2024 (IROS - 2024)
Zhi Su, Xiaoyu Huang, Daniel Ordonez-Apraez, Yunfei Li, Zhongyu Li, Qiayuan Liao, Giulio Turrisi, Massimiliano Pontil, Claudio Semini, Yi Wu, Koushil Sreenath
PDF arxiv
Leveraging Symmetry in RL-based Legged Locomotion Control
On discrete symmetries of robotic systems: A data-driven and group-theoretic analysis
Robotics Science and Systems (RSS - 2023)
Daniel Ordonez-Apraez, Antonio Agudo, Mario Martin, Francesc Moreno-Noguer
Project Video DOI arXiv github
On discrete symmetries of robotic systems: A data-driven and group-theoretic analysis
An Adaptable Approach to Learn Realistic Legged Locomotion without Examples
International Conference on Robotics and Automation (ICRA - 2022)
Daniel Ordonez-Apraez, Antonio Agudo, Mario Martin, Francesc Moreno-Noguer
Video arXiv Videos
An Adaptable Approach to Learn Realistic Legged Locomotion without Examples
[EP-Patent] Autonomous Drum and Inliner Handling
Published European and US patent EP4112238A1/US2023009062A1.
Daniel Ordonez-Apraez, Carl-Helmut Coulon, INVITE GmbH
PDF Project Video
[EP-Patent] Autonomous Drum and Inliner Handling
[Master Thesis] Learning to run naturally: Guiding policies with the Spring-Loaded Inverted Pendulum
In this work, we proposed a new approach for learning legged locomotion for any legged robot, in the sagittal plane, by using a …
Daniel Felipe Ordoñez Apraez, Mario Martin, Francesc Moreno-Noger
PDF Cite Slides
[Master Thesis] Learning to run naturally: Guiding policies with the Spring-Loaded Inverted Pendulum