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.
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.