On the Use of Torque Measurement in Centroidal State Estimation. - Shahram Khorshidi; Ahmad Gazar; Nicholas Rotella; Maximilien Naveau; Ludovic Righetti; Majid Khadiv (CoRR, 2022)

Visual-Inertial and Leg Odometry Fusion for Dynamic Locomotion. - Victor Dhédin; Haolong Li; Shahram Khorshidi; Lukas Mack; Adithya Kumar Chinnakkonda Ravi; Avadesh Meduri; Paarth Shah; Felix Grimminger; Ludovic Righetti; Majid Khadiv; Joerg Stueckler (ICRA, 2023)

On the Use of Torque Measurement in Centroidal State Estimation. - Shahram Khorshidi; Ahmad Gazar; Nicholas Rotella; Maximilien Naveau; Ludovic Righetti; Maren Bennewitz; Majid Khadiv (ICRA, 2023)

Perception for Humanoid Robots. - Arindam Roychoudhury; Shahram Khorshidi; Subham Agrawal; Maren Bennewitz (CoRR, 2023)

Centroidal State Estimation Based on the Koopman Embedding for Dynamic Legged Locomotion. - Shahram Khorshidi; Murad Dawood; Maren Bennewitz (IROS, 2024)

Physically-Consistent Parameter Identification of Robots in Contact. - Shahram Khorshidi; Murad Dawood; Benno Nederkorn; Maren Bennewitz; Majid Khadiv (CoRR, 2024)

DogLegs: Robust Proprioceptive State Estimation for Legged Robots Using Multiple Leg-Mounted IMUs. - Yibin Wu; Jian Kuang; Shahram Khorshidi; Xiaoji Niu; Lasse Klingbeil; Maren Bennewitz; Heiner Kuhlmann (CoRR, 2025)

End-to-End Multi-Task Policy Learning from NMPC for Quadruped Locomotion. - Anudeep Sajja; Shahram Khorshidi; Sebastian Houben; Maren Bennewitz (CoRR, 2025)