5 papers · 1 filter
MOCHA: Multi-Objective Co-Design using Hypernetwork Architectures
Varun Madabushi, Neil Janwani, Maegan Tucker
In this work, we present MOCHA, the first, to our knowledge, reinforcement learning based approach to computing a family of Pareto-optimal policies across the design space of a rob…
Comparison of Non-Deterministic Nonlinear Systems
Shivam Bajaj, Varun S. Madabushi, Maegan Tucker +1
We characterize a notion of system comparison, termed as -similarity, for non-deterministic nonlinear systems. Building on a similar notion recently proposed for stable…
Differentiable Invariant Sets for Hybrid Limit Cycles with Application to Legged Robots
Varun Madabushi, Akash Harapanahalli, Samuel Coogan +1
For hybrid systems exhibiting periodic behavior, analyzing the invariant set containing the limit cycle is a natural way to study the robustness of the closed-loop system. However,…
Finite-Step Invariant Sets for Hybrid Systems with Probabilistic Guarantees
Varun Madabushi, Elizabeth Dietrich, Hanna Krasowski +1
Poincare return maps are a fundamental tool for analyzing periodic orbits in hybrid dynamical systems, including legged locomotion, power electronics, and other cyber-physical syst…
Kinodynamic Motion Retargeting for Humanoid Locomotion via Multi-Contact Whole-Body Trajectory Optimization
Xiaoyu Zhang, Steven Haener, Varun Madabushi +1
We present the KinoDynamic Motion Retargeting (KDMR) framework, a novel approach for humanoid locomotion that models the retargeting process as a multi-contact, whole-body trajecto…