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cs.RO2025
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…
cs.AI2025
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…