23 citations · 28 across the 3 of their papers we have counts for
3 papers · 1 filter
Fast and Feature-Complete Differentiable Physics for Articulated Rigid Bodies with Contact
Keenon Werling, Dalton Omens, Jeongseok Lee +2
We present a fast and feature-complete differentiable physics engine, Nimble (nimblephysics.org), that supports Lagrangian dynamics and hard contact constraints for articulated rig…
Bayesian Policy Optimization for Model Uncertainty
Gilwoo Lee, Brian Hou, Aditya Mandalika +3
Addressing uncertainty is critical for autonomous systems to robustly adapt to the real world. We formulate the problem of model uncertainty as a continuous Bayes-Adaptive Markov D…
A Linear-Time Variational Integrator for Multibody Systems
Jeongseok Lee, C. Karen Liu, Frank C. Park +1
We present an efficient variational integrator for multibody systems. Variational integrators reformulate the equations of motion for multibody systems as discrete Euler-Lagrange (…