9 citations · 20 across the 12 of their papers we have counts for
6 papers · 1 filter
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…
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…