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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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10/27/2022
Constrained Differential Dynamic Programming: A primal-dual augmented Lagrangian approach
Trajectory optimization is an efficient approach for solving optimal con...
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10/05/2022
ProxNLP: a primal-dual augmented Lagrangian solver for nonlinear programming in Robotics and beyond
Mathematical optimization is the workhorse behind several aspects of mod...
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09/19/2022