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cs.RO2024
Accelerated gradient descent for high frequency Model Predictive Control
Jianghan Zhang, Armand Jordana, Ludovic Righetti
The recent promises of Model Predictive Control in robotics have motivated the development of tailored second-order methods to solve optimal control problems efficiently. While tho…
cs.RO2024
Diffusion-based learning of contact plans for agile locomotion
Victor Dhédin, Adithya Kumar Chinnakkonda Ravi, Armand Jordana +5
Legged robots have become capable of performing highly dynamic maneuvers in the past few years. However, agile locomotion in highly constrained environments such as stepping stones…