Giulio Turrisi
@giulioturrisi.bsky.social
Robotics Researcher (ML/RL/Optimization) at the Dynamic Legged Systems Lab, Italian Institute of Technology. Github: https://github.com/giulioturrisi. Google Scholar: https://scholar.google.com/citations?user=yt9v8skAAAAJ&hl=it.
Ping everyone
discord.gg/Xfxau8me
we just initiated a discord server on robot locomotion because we don't know any. Welcome to join!
we just initiated a discord server on robot locomotion because we don't know any. Welcome to join!
Join the Robot Locomotion Discord Server!
Robot locomotion: Humanoid robots, quadruped robots, robot learning and control. | 14 members
discord.gg
April 11, 2025 at 2:24 AM
Ping everyone
Reposted by Giulio Turrisi
Introducing playground.mujoco.org
Combining MuJoCo’s rich and thriving ecosystem, massively parallel GPU-accelerated simulation, and real-world results across a diverse range of robot platforms: quadrupeds, humanoids, dexterous hands, and arms.
Get started today: pip install playground
Combining MuJoCo’s rich and thriving ecosystem, massively parallel GPU-accelerated simulation, and real-world results across a diverse range of robot platforms: quadrupeds, humanoids, dexterous hands, and arms.
Get started today: pip install playground
MuJoCo Playground
An open-source framework for GPU-accelerated robot learning and sim-to-real transfer
playground.mujoco.org
January 16, 2025 at 8:48 PM
Introducing playground.mujoco.org
Combining MuJoCo’s rich and thriving ecosystem, massively parallel GPU-accelerated simulation, and real-world results across a diverse range of robot platforms: quadrupeds, humanoids, dexterous hands, and arms.
Get started today: pip install playground
Combining MuJoCo’s rich and thriving ecosystem, massively parallel GPU-accelerated simulation, and real-world results across a diverse range of robot platforms: quadrupeds, humanoids, dexterous hands, and arms.
Get started today: pip install playground
The combinatorial nature of contact planning in legged robots hinders the success of optimal control in navigating complex scenarios. In our recent RA-L paper, we demonstrate how sampling-based methods and supervised learning techniques can be coupled to search for a solution in real-time.
Non-Gaited Legged Locomotion with Monte-Carlo Tree Search and Supervised Learning (RA-L 25)
YouTube video by Dynamic Legged Systems lab
www.youtube.com
January 3, 2025 at 10:16 AM
The combinatorial nature of contact planning in legged robots hinders the success of optimal control in navigating complex scenarios. In our recent RA-L paper, we demonstrate how sampling-based methods and supervised learning techniques can be coupled to search for a solution in real-time.
IEEE RA-L enters its double-blind era
December 30, 2024 at 5:24 PM
IEEE RA-L enters its double-blind era
Reposted by Giulio Turrisi
🐱 Learning Over Time (LOT) Spring School
📅 24-27 March 2025 | 📍 Siena, Italy
💡 Are you considering models that continuously adapt over time instead of learning "offline" from pre-designed-huge collections of data? 🚀
🔗 sites.google.com/unisi.it/lot...
#ContinualLearning #CL #LifelongLearning
📅 24-27 March 2025 | 📍 Siena, Italy
💡 Are you considering models that continuously adapt over time instead of learning "offline" from pre-designed-huge collections of data? 🚀
🔗 sites.google.com/unisi.it/lot...
#ContinualLearning #CL #LifelongLearning
LOT Spring School
Topics
sites.google.com
December 26, 2024 at 2:39 PM
🐱 Learning Over Time (LOT) Spring School
📅 24-27 March 2025 | 📍 Siena, Italy
💡 Are you considering models that continuously adapt over time instead of learning "offline" from pre-designed-huge collections of data? 🚀
🔗 sites.google.com/unisi.it/lot...
#ContinualLearning #CL #LifelongLearning
📅 24-27 March 2025 | 📍 Siena, Italy
💡 Are you considering models that continuously adapt over time instead of learning "offline" from pre-designed-huge collections of data? 🚀
🔗 sites.google.com/unisi.it/lot...
#ContinualLearning #CL #LifelongLearning
Reposted by Giulio Turrisi
E61: Neurips 2024 RL meetup Hot takes: "What sucks about RL?"
What do RL researchers complain about after hours at the bar? In this "Hot takes" episode, we find out!
Recorded at The Pearl in downtown Vancouver, during the RL meetup after a day of Neurips 2024.
What do RL researchers complain about after hours at the bar? In this "Hot takes" episode, we find out!
Recorded at The Pearl in downtown Vancouver, during the RL meetup after a day of Neurips 2024.
December 25, 2024 at 4:50 PM
E61: Neurips 2024 RL meetup Hot takes: "What sucks about RL?"
What do RL researchers complain about after hours at the bar? In this "Hot takes" episode, we find out!
Recorded at The Pearl in downtown Vancouver, during the RL meetup after a day of Neurips 2024.
What do RL researchers complain about after hours at the bar? In this "Hot takes" episode, we find out!
Recorded at The Pearl in downtown Vancouver, during the RL meetup after a day of Neurips 2024.
Reposted by Giulio Turrisi
Yesterday the hyped Genesis simulator released. But it's up to 10x slower than existing GPU sims, not 10-80x faster or 430,000x faster than realtime since they benchmark mostly static environments
blog post with corrected open source benchmarks & details: stoneztao.substack.com/p/the-new-hy...
blog post with corrected open source benchmarks & details: stoneztao.substack.com/p/the-new-hy...
December 20, 2024 at 11:49 PM
Yesterday the hyped Genesis simulator released. But it's up to 10x slower than existing GPU sims, not 10-80x faster or 430,000x faster than realtime since they benchmark mostly static environments
blog post with corrected open source benchmarks & details: stoneztao.substack.com/p/the-new-hy...
blog post with corrected open source benchmarks & details: stoneztao.substack.com/p/the-new-hy...
Reposted by Giulio Turrisi
An updated intro to reinforcement learning by Kevin Murphy: arxiv.org/abs/2412.05265! Like their books, it covers a lot and is quite up to date with modern approaches. It also is pretty unique in coverage, I don't think a lot of this is synthesized anywhere else yet
Reinforcement Learning: An Overview
This manuscript gives a big-picture, up-to-date overview of the field of (deep) reinforcement learning and sequential decision making, covering value-based RL, policy-gradient methods, model-based met...
arxiv.org
December 9, 2024 at 2:27 PM
An updated intro to reinforcement learning by Kevin Murphy: arxiv.org/abs/2412.05265! Like their books, it covers a lot and is quite up to date with modern approaches. It also is pretty unique in coverage, I don't think a lot of this is synthesized anywhere else yet
(Other Twitter stuff)
Human-robot and robot-robot collaborative carrying with mobile robots typically requires a manipulator arm. At iros2024, we introduce PACC, a novel passive-arm design that, coupled with a decentralized MPC, allows an efficient execution of such tasks with quadruped robots.
Human-robot and robot-robot collaborative carrying with mobile robots typically requires a manipulator arm. At iros2024, we introduce PACC, a novel passive-arm design that, coupled with a decentralized MPC, allows an efficient execution of such tasks with quadruped robots.
November 24, 2024 at 10:32 AM
(Other Twitter stuff)
Human-robot and robot-robot collaborative carrying with mobile robots typically requires a manipulator arm. At iros2024, we introduce PACC, a novel passive-arm design that, coupled with a decentralized MPC, allows an efficient execution of such tasks with quadruped robots.
Human-robot and robot-robot collaborative carrying with mobile robots typically requires a manipulator arm. At iros2024, we introduce PACC, a novel passive-arm design that, coupled with a decentralized MPC, allows an efficient execution of such tasks with quadruped robots.
(Posting old Twitter stuff for boosting connections/the algorithm)
Open-source (and in python!) MPC for quadruped robots. Gradient-based (via acados) or sampling-based in #JAX. Plus, multiple robots, multiple terrains, and multiple gaits!
Link: github.com/iit-DLSLab/Q...
Open-source (and in python!) MPC for quadruped robots. Gradient-based (via acados) or sampling-based in #JAX. Plus, multiple robots, multiple terrains, and multiple gaits!
Link: github.com/iit-DLSLab/Q...
November 21, 2024 at 5:38 PM
(Posting old Twitter stuff for boosting connections/the algorithm)
Open-source (and in python!) MPC for quadruped robots. Gradient-based (via acados) or sampling-based in #JAX. Plus, multiple robots, multiple terrains, and multiple gaits!
Link: github.com/iit-DLSLab/Q...
Open-source (and in python!) MPC for quadruped robots. Gradient-based (via acados) or sampling-based in #JAX. Plus, multiple robots, multiple terrains, and multiple gaits!
Link: github.com/iit-DLSLab/Q...
Very nice extension!
The thingie that brings over your twitter followers worked jolly well for me. Very cool! I am following another 500 people now thanks to that…
chromewebstore.google.com/detail/sky-f...
chromewebstore.google.com/detail/sky-f...
Sky Follower Bridge - Chrome Web Store
Instantly find and follow the same users from your Twitter follows on Bluesky.
chromewebstore.google.com
November 19, 2024 at 11:49 AM
Very nice extension!
Model Predictive Control (MPC) for legged robots is limited by model complexity. In our recent IROS24 paper, we show how partitioning the robot into smaller subsystems, each controlled in parallel by a faster dedicated MPC, can achieve complex whole-body motions more efficiently.
1/2
1/2
November 17, 2024 at 11:15 AM
Model Predictive Control (MPC) for legged robots is limited by model complexity. In our recent IROS24 paper, we show how partitioning the robot into smaller subsystems, each controlled in parallel by a faster dedicated MPC, can achieve complex whole-body motions more efficiently.
1/2
1/2