2 papers
cs.RO2024
Contact Models in Robotics: a Comparative Analysis
Quentin Le Lidec, Wilson Jallet, Louis Montaut +3
Physics simulation is ubiquitous in robotics. Whether in model-based approaches (e.g., trajectory optimization), or model-free algorithms (e.g., reinforcement learning), physics si…
cs.RO2024
Parallel and Proximal Constrained Linear-Quadratic Methods for Real-Time Nonlinear MPC
Wilson Jallet, Ewen Dantec, Etienne Arlaud +2
Recent strides in nonlinear model predictive control (NMPC) underscore a dependence on numerical advancements to efficiently and accurately solve large-scale problems. Given the su…