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cs.RO2022
Demonstration-guided Optimal Control for Long-term Non-prehensile Planar Manipulation
Teng Xue, Hakan Girgin, Teguh Santoso Lembono +1
Long-term non-prehensile planar manipulation is a challenging task for robot planning and feedback control. It is characterized by underactuation, hybrid control, and contact uncer…
cs.RO2022
Tensor Train for Global Optimization Problems in Robotics
Suhan Shetty, Teguh Lembono, Tobias Loew +1
The convergence of many numerical optimization techniques is highly dependent on the initial guess given to the solver. To address this issue, we propose a novel approach that util…