Morphological Symmetries in Robotics

2 code implementations • 23 Feb 2024 • Daniel Ordoñez-Apraez, Giulio Turrisi, Vladimir Kostic, Mario Martin, Antonio Agudo, Francesc Moreno-Noguer, Massimiliano Pontil, Claudio Semini, Carlos Mastalli

We present a comprehensive framework for studying and leveraging morphological symmetries in robotic systems.

Data Augmentation

Dynamics Harmonic Analysis of Robotic Systems: Application in Data-Driven Koopman Modelling

2 code implementations • 12 Dec 2023 • Daniel Ordoñez-Apraez, Vladimir Kostic, Giulio Turrisi, Pietro Novelli, Carlos Mastalli, Claudio Semini, Massimiliano Pontil

We introduce the use of harmonic analysis to decompose the state space of symmetric robotic systems into orthogonal isotypic subspaces.