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04/13/2023
Contact Models in Robotics: a Comparative Analysis
Physics simulation is ubiquitous in robotics. Whether in model-based app...
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09/19/2022
Differentiable Collision Detection: a Randomized Smoothing Approach
Collision detection appears as a canonical operation in a large range of...
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09/19/2022
Enforcing the consensus between Trajectory Optimization and Policy Learning for precise robot control
Reinforcement learning (RL) and trajectory optimization (TO) present str...
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06/23/2022
Augmenting differentiable physics with randomized smoothing
In the past few years, following the differentiable programming paradigm...
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05/19/2022
Collision Detection Accelerated: An Optimization Perspective
Collision detection between two convex shapes is an essential feature of...
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03/08/2022
Leveraging Randomized Smoothing for Optimal Control of Nonsmooth Dynamical Systems
Optimal control (OC) algorithms such as Differential Dynamic Programming...
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10/18/2021