13 citations · 18 across the 5 of their papers we have counts for
3 papers · 1 filter
Training Structured Mechanical Models by Minimizing Discrete Euler-Lagrange Residual
Kunal Menda, Jayesh K. Gupta, Zachary Manchester +1
Model-based paradigms for decision-making and control are becoming ubiquitous in robotics. They rely on the ability to efficiently learn a model of the system from data. Structured…
Structured Mechanical Models for Robot Learning and Control
Jayesh K. Gupta, Kunal Menda, Zachary Manchester +1
Model-based methods are the dominant paradigm for controlling robotic systems, though their efficacy depends heavily on the accuracy of the model used. Deep neural networks have be…
A General Framework for Structured Learning of Mechanical Systems
Jayesh K. Gupta, Kunal Menda, Zachary Manchester +1
Learning accurate dynamics models is necessary for optimal, compliant control of robotic systems. Current approaches to white-box modeling using analytic parameterizations, or blac…