Monte Carlo Tree Search Gait Planner for Non-Gaited Legged System Control. - Lorenzo Amatucci; Joon-Ha Kim; Jemin Hwangbo; Hae-Won Park 002 (ICRA, 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)

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)

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)

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)

MUSE: A Real-Time Multi-Sensor State Estimator for Quadruped Robots. - Ylenia Nisticò; João Carlos Virgolino Soares; Lorenzo Amatucci; Geoff Fink; Claudio Semini (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)