9 citations · 20 across the 12 of their papers we have counts for
12 papers
A Differentiable Interior-Point Method in Single Precision
Jon Arrizabalaga, Kevin Tracy, Zachary Manchester
Primal-dual interior-point methods solve constrained convex optimization problems to tight tolerances with speed and robustness. Their solutions are also efficiently differentiable…
The Trajectory Bundle Method: Unifying Sequential-Convex Programming and Sampling-Based Trajectory Optimization
Kevin Tracy, John Z. Zhang, Jon Arrizabalaga +4
We present a unified framework for solving trajectory optimization problems in a derivative-free manner through the use of sequential convex programming. Traditionally, nonconvex o…
On the Differentiability of the Primal-Dual Interior-Point Method
Kevin Tracy, Zachary Manchester
Primal-Dual Interior-Point methods are capable of solving constrained convex optimization problems to tight tolerances in a fast and robust manner. The derivatives of the primal-du…
Efficient Online Learning of Contact Force Models for Connector Insertion
Kevin Tracy, Zachary Manchester, Ajinkya Jain +4
Contact-rich manipulation tasks with stiff frictional elements like connector insertion are difficult to model with rigid-body simulators. In this work, we propose a new approach f…
ReLU-QP: A GPU-Accelerated Quadratic Programming Solver for Model-Predictive Control
Arun L. Bishop, John Z. Zhang, Swaminathan Gurumurthy +2
We present ReLU-QP, a GPU-accelerated solver for quadratic programs (QPs) that is capable of solving high-dimensional control problems at real-time rates. ReLU-QP is derived by exa…
Data-Efficient Model Learning for Control with Jacobian-Regularized Dynamic-Mode Decomposition}
Brian E. Jackson, Jeong Hun Lee, Kevin Tracy +1
We present a data-efficient algorithm for learning models for model-predictive control (MPC). Our approach, Jacobian-Regularized Dynamic-Mode Decomposition (JDMD), offers improved…
A Square-Root Kalman Filter Using Only QR Decompositions
Kevin Tracy
The Kalman filter operates by storing a Gaussian description of the state estimate in the form of a mean and covariance. Instead of storing and manipulating the covariance matrix d…
Differentiable Collision Detection for a Set of Convex Primitives
Kevin Tracy, Taylor A. Howell, Zachary Manchester
Collision detection between objects is critical for simulation, control, and learning for robotic systems. However, existing collision detection routines are inherently non-differe…
DiffPills: Differentiable Collision Detection for Capsules and Padded Polygons
Kevin Tracy, Taylor A. Howell, Zachary Manchester
Collision detection plays an important role in simulation, control, and learning for robotic systems. However, no existing method is differentiable with respect to the configuratio…
CALIPSO: A Differentiable Solver for Trajectory Optimization with Conic and Complementarity Constraints
Taylor A. Howell, Simon Le Cleac'h, Kevin Tracy +1
We present a new solver for non-convex trajectory optimization problems that is specialized for robotics applications. CALIPSO, or the Conic Augmented Lagrangian Interior-Point SOl…
Practical limits on Nanosatellite Telescope Pointing: The Impact of Disturbances and Photon Noise
Ewan S. Douglas, Kevin Tracy, Zachary Manchester
Accurate and stable spacecraft pointing is a requirement of many astronomical observations. Pointing particularly challenges nanosatellites because of an unfavorable surface area t…
Move of a large but delicate apparatus on a trailer with air-ride suspension
B. Thomas, D. Will, J. Heilman +17
When valuable delicate goods are shipped by truck, attention must be paid to vibrations that may cause damage. We present a case study of moving an extremely delicate 6230-kg super…