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• Prioritized Optimal Control
  2014 · 22 citations
• Imitate and Repurpose: Learning Reusable Robot Movement Skills From Human and Animal Behaviors
  2022 · 20 citations
• Modelling Generalized Forces with Reinforcement Learning for Sim-to-Real Transfer
  2019 · 16 citations
• Stability Analysis and Design of Momentum-based Controllers for Humanoid Robots
  2016 · 14 citations
• Barkour: Benchmarking Animal-level Agility with Quadruped Robots
  2023 · 13 citations
• Gemini Robotics 1.5: Pushing the Frontier of Generalist Robots with Advanced Embodied Reasoning, Thinking, and Motion Transfer
  2025
• Proc4Gem: Foundation models for physical agency through procedural generation
  2025
• A Predictive Momentum-Based Whole-Body Torque Controller: Theory and Simulations for the iCub Stepping
  2017
• Modeling and Control of Humanoid Robots in Dynamic Environments: iCub Balancing on a Seesaw
  2017
• A Control Architecture with Online Predictive Planning for Position and Torque Controlled Walking of Humanoid Robots
  2018
• A Generic Synchronous Dataflow Architecture to Rapidly Prototype and Deploy Robot Controllers
  2019