2 papers
cs.RO2026
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.RO2024
Generating Realistic Arm Movements in Reinforcement Learning: A Quantitative Comparison of Reward Terms and Task Requirements
Jhon P. F. Charaja, Isabell Wochner, Pierre Schumacher +7
The mimicking of human-like arm movement characteristics involves the consideration of three factors during control policy synthesis: (a) chosen task requirements, (b) inclusion of…