1 citations · 1 across the 4 of their papers we have counts for
5 papers
Differentiable Simulation of Hard Contacts with Soft Gradients for Learning and Control
Anselm Paulus, A. René Geist, Pierre Schumacher +3
Contact forces introduce discontinuities into robot dynamics that severely limit the use of simulators for gradient-based optimization. Penalty-based simulators such as MuJoCo, sof…
Memory Assignment for Finite-Memory Strategies in Adversarial Patrolling Games
Vojtěch Kůr, Vít Musil, Vojtěch Řehák
Adversarial Patrolling games form a subclass of Security games where a Defender moves between locations, guarding vulnerable targets. The main algorithmic problem is constructing a…
Multiple Mean-Payoff Optimization under Local Stability Constraints
David Klaška, Antonín Kučera, Vojtěch Kůr +2
The long-run average payoff per transition (mean payoff) is the main tool for specifying the performance and dependability properties of discrete systems. The problem of constructi…
LPGD: A General Framework for Backpropagation through Embedded Optimization Layers
Anselm Paulus, Georg Martius, Vít Musil
Embedding parameterized optimization problems as layers into machine learning architectures serves as a powerful inductive bias. Training such architectures with stochastic gradien…
Optimizing Local Satisfaction of Long-Run Average Objectives in Markov Decision Processes
David Klaška, Antonín Kučera, Vojtěch Kůr +2
Long-run average optimization problems for Markov decision processes (MDPs) require constructing policies with optimal steady-state behavior, i.e., optimal limit frequency of visit…