2 papers
cs.RO2026
Learning Transferable Friction Models and LuGre Identification Via Physics-Informed Neural Networks
Asutay Ozmen, João P. Hespanha, Katie Byl
Accurately modeling friction in robotics remains a core challenge, as robotics simulators like MuJoCo and PyBullet use simplified friction models or heuristics to balance computati…
eess.SY2024
Control-Oriented Identification for the Linear Quadratic Regulator: Technical Report
Sean Anderson, João Pedro Hespanha
Data-driven control benefits from rich datasets, but constructing such datasets becomes challenging when gathering data is limited. We consider an offline experiment design approac…