28 citations · 57 across the 28 of their papers we have counts for
7 papers · 1 filter
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…
Generalization Bounded Implicit Learning of Nearly Discontinuous Functions
Bibit Bianchini, Mathew Halm, Nikolai Matni +1
Inspired by recent strides in empirical efficacy of implicit learning in many robotics tasks, we seek to understand the theoretical benefits of implicit formulations in the face of…
Validating Robotics Simulators on Real-World Impacts
Brian Acosta, William Yang, Michael Posa
A realistic simulation environment is an essential tool in every roboticist's toolkit, with uses ranging from planning and control to training policies with reinforcement learning.…
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…
Fundamental Challenges in Deep Learning for Stiff Contact Dynamics
Mihir Parmar, Mathew Halm, Michael Posa
Frictional contact has been extensively studied as the core underlying behavior of legged locomotion and manipulation, and its nearly-discontinuous nature makes planning and contro…
Set-Valued Rigid Body Dynamics for Simultaneous, Inelastic, Frictional Impacts
Mathew Halm, Michael Posa
Robotic manipulation and locomotion often entail nearly-simultaneous collisions -- such as heel and toe strikes during a foot step -- with outcomes that are extremely sensitive to…