Siddhant Gangapurwala

According to our database, Siddhant Gangapurwala authored at least 12 papers between 2019 and 2024.

Collaborative distances:

• Dijkstra number of five.
• Erdős number of four.

2024

Learning and deploying robust locomotion policies with minimal dynamics randomization.

Luigi Campanaro, Siddhant Gangapurwala, Wolfgang Merkt, Ioannis Havoutis

Proceedings of the 6th Annual Learning for Dynamics & Control Conference, 2024

2023

VAE-Loco: Versatile Quadruped Locomotion by Learning a Disentangled Gait Representation.

Alexander L. Mitchell, Wolfgang Merkt, Mathieu Geisert, Siddhant Gangapurwala, Martin Engelcke, Oiwi Parker Jones, Ioannis Havoutis, Ingmar Posner

IEEE Trans. Robotics, October, 2023

Roll-Drop: accounting for observation noise with a single parameter.

Luigi Campanaro, Daniele De Martini, Siddhant Gangapurwala, Wolfgang Merkt, Ioannis Havoutis

Proceedings of the Learning for Dynamics and Control Conference, 2023

Learning Low-Frequency Motion Control for Robust and Dynamic Robot Locomotion.

Siddhant Gangapurwala, Luigi Campanaro, Ioannis Havoutis

Proceedings of the IEEE International Conference on Robotics and Automation, 2023

2022

RLOC: Terrain-Aware Legged Locomotion Using Reinforcement Learning and Optimal Control.

Siddhant Gangapurwala, Mathieu Geisert, Romeo Orsolino, Maurice F. Fallon, Ioannis Havoutis

IEEE Trans. Robotics, 2022

Next Steps: Learning a Disentangled Gait Representation for Versatile Quadruped Locomotion.

Alexander L. Mitchell, Wolfgang Merkt, Mathieu Geisert, Siddhant Gangapurwala, Martin Engelcke, Oiwi Parker Jones, Ioannis Havoutis, Ingmar Posner

Proceedings of the 2022 International Conference on Robotics and Automation, 2022

2021

CPG-Actor: Reinforcement Learning for Central Pattern Generators.

Luigi Campanaro, Siddhant Gangapurwala, Daniele De Martini, Wolfgang Merkt, Ioannis Havoutis

Proceedings of the Towards Autonomous Robotic Systems - 22nd Annual Conference, 2021

Rapid Stability Margin Estimation for Contact-Rich Locomotion.

Romeo Orsolino, Siddhant Gangapurwala, Oliwier Melon, Mathieu Geisert, Ioannis Havoutis, Maurice F. Fallon

Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2021

Real-Time Trajectory Adaptation for Quadrupedal Locomotion using Deep Reinforcement Learning.

Siddhant Gangapurwala, Mathieu Geisert, Romeo Orsolino, Maurice F. Fallon, Ioannis Havoutis

Proceedings of the IEEE International Conference on Robotics and Automation, 2021

2020

Guided Constrained Policy Optimization for Dynamic Quadrupedal Robot Locomotion.

Siddhant Gangapurwala, Alexander L. Mitchell, Ioannis Havoutis

IEEE Robotics Autom. Lett., 2020

First Steps: Latent-Space Control with Semantic Constraints for Quadruped Locomotion.

Alexander L. Mitchell, Martin Engelcke, Oiwi Parker Jones, David Surovik, Siddhant Gangapurwala, Oliwier Melon, Ioannis Havoutis, Ingmar Posner

Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2020

2019

Towards Generating Simulated Walking Motion Using Position Based Deep Reinforcement Learning.

William Jones, Siddhant Gangapurwala, Ioannis Havoutis, Kazuya Yoshida

Proceedings of the Towards Autonomous Robotic Systems - 20th Annual Conference, 2019