142 citations · 634 across the 26 of their papers we have counts for
3 papers · 1 filter
Differentiable Optimal Control via Differential Dynamic Programming
Traiko Dinev, Carlos Mastalli, Vladimir Ivan +2
Robot design optimization, imitation learning and system identification share a common problem which requires optimization over robot or task parameters at the same time as optimiz…
Inverse-Dynamics MPC via Nullspace Resolution
Carlos Mastalli, Saroj Prasad Chhatoi, Thomas Corbères +2
Optimal control (OC) using inverse dynamics provides numerical benefits such as coarse optimization, cheaper computation of derivatives, and a high convergence rate. However, to ta…
Agile Maneuvers in Legged Robots: a Predictive Control Approach
Carlos Mastalli, Wolfgang Merkt, Guiyang Xin +4
Planning and execution of agile locomotion maneuvers have been a longstanding challenge in legged robotics. It requires to derive motion plans and local feedback policies in real-t…