Alberto Silvio Chiappa

2 accepted papers

2026

KINESIS: Motion Imitation for Human Musculoskeletal Locomotion

Merkourios Simos, Alberto Silvio Chiappa, Alexander Mathis

ICRA 2026poster

How do humans move? Advances in reinforcement learning (RL) have produced impressive results in capturing human motion using physics-based humanoid control. However, torque-controlled humanoids fail to model key aspects of human motor control such as biomechanical joint constraints & non-linear and …

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2023

Latent exploration for Reinforcement Learning

Alberto Silvio Chiappa, Alessandro Marin Vargas, Ann Huang, Alexander Mathis

NeurIPS 2023poster

In Reinforcement Learning, agents learn policies by exploring and interacting with the environment. Due to the curse of dimensionality, learning policies that map high-dimensional sensory input to motor output is particularly challenging. During training, state of the art methods (SAC, PPO, etc.) ex…

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