14 citations · 19 across the 9 of their papers we have counts for
9 papers
A biconvex method for minimum-time motion planning through sequences of convex sets
Tobia Marcucci, Mathew Halm, Will Yang +2
We consider the problem of designing a smooth trajectory that traverses a sequence of convex sets in minimum time, while satisfying given velocity and acceleration constraints. Thi…
Simultaneous Learning of Contact and Continuous Dynamics
Bibit Bianchini, Mathew Halm, Michael Posa
Robotic manipulation can greatly benefit from the data efficiency, robustness, and predictability of model-based methods if robots can quickly generate models of novel objects they…
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…
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…