284 citations · 436 across the 7 of their papers we have counts for
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cs.RO2021★ 37 cited
Imitation Learning from MPC for Quadrupedal Multi-Gait Control
Alexander Reske, Jan Carius, Yuntao Ma +2
We present a learning algorithm for training a single policy that imitates multiple gaits of a walking robot. To achieve this, we use and extend MPC-Net, which is an Imitation Lear…
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…