most citedLyapunov Robust Constrained-MDPs: Soft-Constrained Robustly Stable Policy Optimization under Model Uncertainty

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cs.RO2020

Tuning-Free Contact-Implicit Trajectory Optimization

Aykut Ozgun Onol, Radu Corcodel, Philip Long +1

We present a contact-implicit trajectory optimization framework that can plan contact-interaction trajectories for different robot architectures and tasks using a trivial initial g…