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cs.LG2021
Learning Linear Complementarity Systems
Wanxin Jin, Alp Aydinoglu, Mathew Halm +1
This paper investigates the learning, or system identification, of a class of piecewise-affine dynamical systems known as linear complementarity systems (LCSs). We propose a violat…
cs.RO2021
Real-Time Multi-Contact Model Predictive Control via ADMM
Alp Aydinoglu, Michael Posa
We propose a hybrid model predictive control algorithm, consensus complementarity control (C3), for systems that make and break contact with their environment. Many state-of-the-ar…