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cs.RO2022★ 2 cited
Differentiable Optimal Control via Differential Dynamic Programming
Traiko Dinev, Carlos Mastalli, Vladimir Ivan +2
Robot design optimization, imitation learning and system identification share a common problem which requires optimization over robot or task parameters at the same time as optimiz…
cs.RO2022★ 1 cited
Inverse-Dynamics MPC via Nullspace Resolution
Carlos Mastalli, Saroj Prasad Chhatoi, Thomas Corbères +2
Optimal control (OC) using inverse dynamics provides numerical benefits such as coarse optimization, cheaper computation of derivatives, and a high convergence rate. However, to ta…