3 papers
math.OC2024
Kernel-Based Optimal Control: An Infinitesimal Generator Approach
Petar Bevanda, Nicolas Hoischen, Tobias Wittmann +3
This paper presents a novel operator-theoretic approach for optimal control of nonlinear stochastic systems within reproducing kernel Hilbert spaces. Our learning framework leverag…
cs.RO2024
Jacta: A Versatile Planner for Learning Dexterous and Whole-body Manipulation
Jan Brüdigam, Ali-Adeeb Abbas, Maks Sorokin +7
Robotic manipulation is challenging due to discontinuous dynamics, as well as high-dimensional state and action spaces. Data-driven approaches that succeed in manipulation tasks re…
cs.RO2021
Linear-Time Contact and Friction Dynamics in Maximal Coordinates using Variational Integrators
Jan Brüdigam, Jana Janeva, Stefan Sosnowski +1
Simulation of contact and friction dynamics is an important basis for control- and learning-based algorithms. However, the numerical difficulties of contact interactions pose a cha…