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Imitation Learning from MPC for Quadrupedal Multi-Gait Control
We present a learning algorithm for training a single policy that imitat...
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Contact-Implicit Trajectory Optimization for Dynamic Object Manipulation
We present a reformulation of a contact-implicit optimization (CIO) appr...
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MPC-Net: A First Principles Guided Policy Search
We present an Imitation Learning approach for the control of dynamical s...
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Locomotion Planning through a Hybrid Bayesian Trajectory Optimization
Locomotion planning for legged systems requires reasoning about suitable...
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Whole-Body Nonlinear Model Predictive Control Through Contacts for Quadrupeds
In this work we present a whole-body Nonlinear Model Predictive Control ...
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Jan Carius
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