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license: bsd
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license: bsd-3-clause
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---
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<h1 align="center">
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Online DNN-driven Nonlinear MPC for Stylistic Humanoid Robot Walking with Step Adjustment
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</h1>
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<div align="center">
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Giulio Romualdi, Paolo Maria Viceconte, Lorenzo Moretti, Ines Sorrentino, Stefano Dafarra, Silvio Traversaro and Daniele Pucci <br> <br>
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<b>Paolo Maria Viceconte and Giulio Romualdi are co-first authors</b>
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</div>
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<br>
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<div align="center">
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📅 Submitted to the 2024 IEEE-RAS International Conference on Humanoid Robots (Humanoids) 🤖
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</div>
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<section>
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<h2>📂 Dataset</h2>
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<p>
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The dataset is organized in folders each representing a complete experiment. Each folder is organized as follows:
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</p>
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<ul>
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<li>
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a <code>.mp4</code> file containing the video of the experiment
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</li>
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<li>
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a <code>.mat</code> file containing the associated data
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</li>
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<li>
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a <code>.md</code> file containing the version of the code used
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</li>
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</ul>
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</section>
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<section>
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<h2>📊 Dataset Visualization</h2>
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<p>
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To visualize the experiment, we suggest using
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<a href="https://github.com/ami-iit/robot-log-visualizer">robot-log-visualizer</a> as shown in the following video
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<video controls autoplay src="https://cdn-uploads.huggingface.co/production/uploads/645421457f7b2bed1a01197b/JFnRvecj1QQ_pt7rG-0Dk.webm"></video>
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</section>
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