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09/21/2021
Geometric Fabrics: Generalizing Classical Mechanics to Capture the Physics of Behavior
Classical mechanical systems are central to controller design in energy ...
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10/28/2020
Geometric Fabrics for the Acceleration-based Design of Robotic Motion
This paper describes the pragmatic design and construction of geometric ...
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08/05/2020
Optimization Fabrics
This paper presents a theory of optimization fabrics, second-order diffe...
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05/27/2020
Euclideanizing Flows: Diffeomorphic Reduction for Learning Stable Dynamical Systems
Robotic tasks often require motions with complex geometric structures. W...
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01/28/2020
Taking Recoveries to Task: Recovery-Driven Development for Recipe-based Robot Tasks
Robot task execution when situated in real-world environments is fragile...
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08/01/2018