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12/13/2022
Single-Level Differentiable Contact Simulation
We present a differentiable formulation of rigid-body contact dynamics f...
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05/19/2022
CALIPSO: A Differentiable Solver for Trajectory Optimization with Conic and Complementarity Constraints
We present a new solver for non-convex trajectory optimization problems ...
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03/02/2022
Dojo: A Differentiable Simulator for Robotics
We present a differentiable rigid-body-dynamics simulator for robotics t...
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09/10/2021
Trajectory Optimization with Optimization-Based Dynamics
We present a framework for bi-level trajectory optimization in which a s...
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07/12/2021
Linear Contact-Implicit Model-Predictive Control
We present a general approach for controlling robotic systems that make ...
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04/17/2021
ALGAMES: A Fast Augmented Lagrangian Solver for Constrained Dynamic Games
Dynamic games are an effective paradigm for dealing with the control of ...
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11/16/2020
LUCIDGames: Online Unscented Inverse Dynamic Games for Adaptive Trajectory Prediction and Planning
Existing game-theoretic planning methods assume that the robot knows the...
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11/04/2020
Robust Entry Vehicle Guidance with Sampling-Based Invariant Funnels
Managing uncertainty is a fundamental and critical issue in spacecraft e...
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10/22/2019
