34 citations · 34 across the 1 of their papers we have counts for
3 papers
cs.RO2021★ 34 cited
Contact-Implicit Trajectory Optimization for Dynamic Object Manipulation
Jean-Pierre Sleiman, Jan Carius, Ruben Grandia +2
We present a reformulation of a contact-implicit optimization (CIO) approach that computes optimal trajectories for rigid-body systems in contact-rich settings. A hard-contact mode…
cs.RO2019
MPC-Net: A First Principles Guided Policy Search
Jan Carius, Farbod Farshidian, Marco Hutter
We present an Imitation Learning approach for the control of dynamical systems with a known model. Our policy search method is guided by solutions from MPC. Typical policy search m…
cs.RO2019
Locomotion Planning through a Hybrid Bayesian Trajectory Optimization
Tim Seyde, Jan Carius, Ruben Grandia +2
Locomotion planning for legged systems requires reasoning about suitable contact schedules. The contact sequence and timings constitute a hybrid dynamical system and prescribe a su…