An Adaptable Approach to Learn Realistic Legged Locomotion without Examples. - Daniel Felipe Ordoñez Apraez; Antonio Agudo; Francesc Moreno-Noguer; Mario Martín (ICRA, 2022)

On discrete symmetries of robotics systems: A group-theoretic and data-driven analysis. - Daniel Felipe Ordoñez Apraez; Mario Martín; Antonio Agudo; Francesc Moreno (Robotics: Science and Systems, 2023)

Leveraging Symmetry in RL-based Legged Locomotion Control. - Zhi Su; Xiaoyu Huang; Daniel Felipe Ordoñez Apraez; Yunfei Li; Zhongyu Li 003; Qiayuan Liao; Giulio Turrisi; Massimiliano Pontil; Claudio Semini; Yi Wu 013; Koushil Sreenath (IROS, 2024)

Dynamics harmonic analysis of robotic systems: Application in data-driven Koopman modelling. - Daniel Felipe Ordoñez Apraez; Vladimir Kostic; Giulio Turrisi; Pietro Novelli; Carlos Mastalli; Claudio Semini; Massimiliano Pontil (L4DC, 2024)

Morphological Symmetries in Robotics. - Daniel Felipe Ordoñez Apraez; Giulio Turrisi; Vladimir Kostic; Mario Martín; Antonio Agudo; Francesc Moreno-Noguer; Massimiliano Pontil; Claudio Semini; Carlos Mastalli (CoRR, 2024)

Morphologically Symmetric Reinforcement Learning for Ambidextrous Bimanual Manipulation. - Zechu Li; Yufeng Jin; Daniel Felipe Ordoñez Apraez; Claudio Semini; Puze Liu; Georgia Chalvatzaki (CoRR, 2025)

Equivariant Representation Learning for Symmetry-Aware Inference with Guarantees. - Daniel Felipe Ordoñez Apraez; Vladimir Kostic; Alek Fröhlich; Vivien Brandt; Karim Lounici; Massimiliano Pontil (CoRR, 2025)