5 citations · 14 across the 6 of their papers we have counts for
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cs.RO2019★ 3 cited
Bilevel Optimization for Planning through Contact: A Semidirect Method
Benoit Landry, Joseph Lorenzetti, Zachary Manchester +1
Many robotics applications, from object manipulation to locomotion, require planning methods that are capable of handling the dynamics of contact. Trajectory optimization has been…
cs.RO2019★ 4 cited
A Differentiable Augmented Lagrangian Method for Bilevel Nonlinear Optimization
Benoit Landry, Zachary Manchester, Marco Pavone
Many problems in modern robotics can be addressed by modeling them as bilevel optimization problems. In this work, we leverage augmented Lagrangian methods and recent advances in a…