1 citations · 3 across the 15 of their papers we have counts for
22 papers
Hybrid Feedback Sampling for Sample-Efficient Model Predictive Control
Chaoyi Pan, Zeji Yi, John Zhang +3
Thanks to its parallelizability and flexibility, sampling-based Model Predictive Control (MPC) has become widely popular for controlling real-world robotic systems. However, for hi…
A Differentiable Interior-Point Method in Single Precision
Jon Arrizabalaga, Kevin Tracy, Zachary Manchester
Primal-dual interior-point methods solve constrained convex optimization problems to tight tolerances with speed and robustness. Their solutions are also efficiently differentiable…
The Trajectory Bundle Method: Unifying Sequential-Convex Programming and Sampling-Based Trajectory Optimization
Kevin Tracy, John Z. Zhang, Jon Arrizabalaga +4
We present a unified framework for solving trajectory optimization problems in a derivative-free manner through the use of sequential convex programming. Traditionally, nonconvex o…
Realizing Robotic Swimming with Unified Fluid-Robot Multiphysics
Jeong Hun Lee, Junzhe Hu, Sofia Kwok +2
Matching the swimming efficiency and agility of fish has remained an elusive goal in underwater robotics. Such locomotion capabilities rely on complex vortex interactions between t…
Whole-Body Model-Predictive Control of Legged Robots with MuJoCo
John Z. Zhang, Taylor A. Howell, Zeji Yi +6
We demonstrate the surprising real-world effectiveness of a very simple approach to whole-body model-predictive control (MPC) of quadruped and humanoid robots: the iterative LQR (i…
Optimal Attitude Control of Large Flexible Space Structures with Distributed Momentum Actuators
Pedro Cachim, Will Kraus, Zachary Manchester +2
Recent spacecraft mission concepts propose larger payloads that have lighter, less rigid structures. For large lightweight structures, the natural frequencies of their vibration mo…