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09/04/2023
Inverse Dynamics Trajectory Optimization for Contact-Implicit Model Predictive Control
Robots must make and break contact to interact with the world and perfor...
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01/18/2023
Temporal Logic Motion Planning with Convex Optimization via Graphs of Convex Sets
Temporal logic is a concise way of specifying complex tasks. But motion ...
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04/13/2022
Mixed-Integer Programming for Signal Temporal Logic with Fewer Binary Variables
Signal Temporal Logic (STL) provides a convenient way of encoding comple...
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03/04/2022
Robust Approximate Simulation for Hierarchical Control of Piecewise Affine Systems under Bounded Disturbances
Piecewise affine (PWA) systems are widely applied in many practical case...
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02/28/2022
Contact-Implicit Trajectory Optimization with Hydroelastic Contact and iLQR
Contact-implicit trajectory optimization offers an appealing method of a...
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09/27/2021
Control Barrier Functions for Singularity Avoidance in Passivity-Based Manipulator Control
Task-space Passivity-Based Control (PBC) for manipulation has numerous a...
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09/09/2021
Mini Cheetah, the Falling Cat: A Case Study in Machine Learning and Trajectory Optimization for Robot Acrobatics
Seemingly in defiance of basic physics, cats consistently land on their ...
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11/13/2020
Trajectory Optimization for High-Dimensional Nonlinear Systems under STL Specifications
Signal Temporal Logic (STL) has gained popularity in recent years as a s...
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09/14/2020
Automatic Trajectory Synthesis for Real-Time Temporal Logic
Many safety-critical systems must achieve high-level task specifications...
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06/17/2020
Approximate Simulation for Template-Based Whole-Body Control
Reduced-order template models are widely used to control high degree-of-...
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06/09/2020
A Smooth Robustness Measure of Signal Temporal Logic for Symbolic Control
Recent years have seen an increasing use of Signal Temporal Logic (STL) ...
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09/23/2019
Kalman Filtering with Gaussian Processes Measurement Noise
Real-world measurement noise in applications like robotics is often corr...
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09/20/2019
Formal Connections between Template and Anchor Models via Approximate Simulation
Reduced-order template models like the Linear Inverted Pendulum (LIP) an...
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05/08/2019
