12 citations · 38 across the 8 of their papers we have counts for
Showing 2021 · cs.ROShow all
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cs.RO2021
Trajectory Optimization with Optimization-Based Dynamics
Taylor A. Howell, Simon Le Cleac'h, Sumeet Singh +3
We present a framework for bi-level trajectory optimization in which a system's dynamics are encoded as the solution to a constrained optimization problem and smooth gradients of t…
cs.RO2021★ 8 cited
Fast Contact-Implicit Model-Predictive Control
Simon Le Cleac'h, Taylor Howell, Shuo Yang +5
We present a general approach for controlling robotic systems that make and break contact with their environments. Contact-implicit model predictive control (CI-MPC) generalizes li…