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09/28/2022
Constrained Dynamic Movement Primitives for Safe Learning of Motor Skills
Dynamic movement primitives are widely used for learning skills which ca...
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03/22/2022
Robust Pivoting: Exploiting Frictional Stability Using Bilevel Optimization
Generalizable manipulation requires that robots be able to interact with...
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03/18/2022
PYROBOCOP: Python-based Robotic Control Optimization Package for Manipulation
PYROBOCOP is a Python-based package for control, optimization and estima...
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03/05/2022
Chance-Constrained Optimization in Contact-Rich Systems for Robust Manipulation
This paper presents a chance-constrained formulation for robust trajecto...
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12/26/2019
Quasi-Newton Trust Region Policy Optimization
We propose a trust region method for policy optimization that employs Qu...
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10/05/2019