17 citations · 32 across the 6 of their papers we have counts for
6 papers
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…
A Versatile Co-Design Approach For Dynamic Legged Robots
Traiko Dinev, Carlos Mastalli, Vladimir Ivan +2
We present a versatile framework for the computational co-design of legged robots and dynamic maneuvers. Current state-of-the-art approaches are typically based on random sampling…
Sparsity-Inducing Optimal Control via Differential Dynamic Programming
Traiko Dinev, Wolfgang Merkt, Vladimir Ivan +2
Optimal control is a popular approach to synthesize highly dynamic motion. Commonly, regularization is used on the control inputs in order to minimize energy used and to ensu…
Memory Clustering using Persistent Homology for Multimodality- and Discontinuity-Sensitive Learning of Optimal Control Warm-starts
Wolfgang Merkt, Vladimir Ivan, Traiko Dinev +2
Shooting methods are an efficient approach to solving nonlinear optimal control problems. As they use local optimization, they exhibit favorable convergence when initialized with a…
Modeling and Control of a Hybrid Wheeled Jumping Robot
Traiko Dinev, Songyan Xin, Wolfgang Merkt +2
In this paper, we study a wheeled robot with a prismatic extension joint. This allows the robot to build up momentum to perform jumps over obstacles and to swing up to the upright…
Dynamic Likelihood-free Inference via Ratio Estimation (DIRE)
Traiko Dinev, Michael U. Gutmann
Parametric statistical models that are implicitly defined in terms of a stochastic data generating process are used in a wide range of scientific disciplines because they enable ac…