An Online Learning Procedure for Feedback Linearization Control without Torque Measurements. - Marco Capotondi; Giulio Turrisi; Claudio Gaz; Valerio Modugno; Giuseppe Oriolo; Alessandro De Luca 001 (CoRL, 2019)

On-Line Learning for Planning and Control of Underactuated Robots With Uncertain Dynamics. - Giulio Turrisi; Marco Capotondi; Claudio Gaz; Valerio Modugno; Giuseppe Oriolo; Alessandro De Luca 001 (IEEE Robotics Autom. Lett., 2022)

SafeSteps: Learning Safer Footstep Planning Policies for Legged Robots via Model-Based Priors. - Shafeef Omar; Lorenzo Amatucci; Victor Barasuol; Giulio Turrisi; Claudio Semini (Humanoids, 2023)

Quadrupedal Footstep Planning Using Learned Motion Models of a Black-Box Controller. - Ilyass Taouil; Giulio Turrisi; Daniel Schleich; Victor Barasuol; Claudio Semini; Sven Behnke (IROS, 2023)

Fast Convex Visual Foothold Adaptation for Quadrupedal Locomotion. - Shafeef Omar; Lorenzo Amatucci; Giulio Turrisi; Victor Barasuol; Claudio Semini (CoRR, 2023)

Accelerating Model Predictive Control for Legged Robots through Distributed Optimization. - Lorenzo Amatucci; Giulio Turrisi; Angelo Bratta; Victor Barasuol; Claudio Semini (IROS, 2024)

Leveraging Symmetry in RL-based Legged Locomotion Control. - Zhi Su; Xiaoyu Huang; Daniel Felipe Ordoñez Apraez; Yunfei Li 005; Zhongyu Li 003; Qiayuan Liao; Giulio Turrisi; Massimiliano Pontil; Claudio Semini; Yi Wu 013; Koushil Sreenath (IROS, 2024)

On the Benefits of GPU Sample-Based Stochastic Predictive Controllers for Legged Locomotion. - Giulio Turrisi; Valerio Modugno; Lorenzo Amatucci; Dimitrios Kanoulas; Claudio Semini (IROS, 2024)

PACC: A Passive-Arm Approach for High-Payload Collaborative Carrying with Quadruped Robots Using Model Predictive Control. - Giulio Turrisi; Lucas Schulze; Vivian S. Medeiros; Claudio Semini; Victor Barasuol (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)

Online Non-linear Centroidal MPC with Stability Guarantees for Robust Locomotion of Legged Robots. - Mohamed Elobaid; Giulio Turrisi; Lorenzo Rapetti; Giulio Romualdi; Stefano Dafarra; Tomohiro Kawakami; Tomohiro Chaki; Takahide Yoshiike; Claudio Semini; Daniele Pucci (CoRR, 2024)

VERO: A vacuum-cleaner-equipped quadruped robot for efficient litter removal. - Lorenzo Amatucci; Giulio Turrisi; Angelo Bratta; Victor Barasuol; Claudio Semini (J. Field Robotics, 2024)

Non-Gaited Legged Locomotion With Monte-Carlo Tree Search and Supervised Learning. - Ilyass Taouil; Lorenzo Amatucci; Majid Khadiv; Angela Dai; Victor Barasuol; Giulio Turrisi; Claudio Semini (IEEE Robotics Autom. Lett., 2025)

Adaptive Non-Linear Centroidal MPC With Stability Guarantees for Robust Locomotion of Legged Robots. - Mohamed Elobaid; Giulio Turrisi; Lorenzo Rapetti; Giulio Romualdi; Stefano Dafarra; Tomohiro Kawakami; Tomohiro Chaki; Takahide Yoshiike; Claudio Semini; Daniele Pucci (IEEE Robotics Autom. Lett., 2025)

Primal-Dual iLQR for GPU-Accelerated Learning and Control in Legged Robots. - Lorenzo Amatucci; João Sousa Pinto; Giulio Turrisi; Dominique Orban; Victor Barasuol; Claudio Semini (CoRR, 2025)

Feedback-MPPI: Fast Sampling-Based MPC via Rollout Differentiation - Adios low-level controllers. - Tommaso Belvedere; Michael Ziegltrum; Giulio Turrisi; Valerio Modugno (CoRR, 2025)

Guided Reinforcement Learning for Omnidirectional 3D Jumping in Quadruped Robots. - Riccardo Bussola; Michele Focchi; Giulio Turrisi; Claudio Semini; Luigi Palopoli 002 (CoRR, 2025)