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09/02/2022
Differentiable Optimal Control via Differential Dynamic Programming
Robot design optimization, imitation learning and system identification ...
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03/08/2021
Co-Designing Robots by Differentiating Motion Solvers
We present a novel algorithm for the computational co-design of legged r...
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11/14/2020
Sparsity-Inducing Optimal Control via Differential Dynamic Programming
Optimal control is a popular approach to synthesize highly dynamic motio...
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10/02/2020
Memory Clustering using Persistent Homology for Multimodality- and Discontinuity-Sensitive Learning of Optimal Control Warm-starts
Shooting methods are an efficient approach to solving nonlinear optimal ...
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03/03/2020
Modeling and Control of a Hybrid Wheeled Jumping Robot
In this paper, we study a wheeled robot with a prismatic extension joint...
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10/23/2018