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09/18/2023
Learning Covariances for Estimation with Constrained Bilevel Optimization
We consider the problem of learning error covariance matrices for roboti...
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04/27/2023
SLoMo: A General System for Legged Robot Motion Imitation from Casual Videos
We present SLoMo: a first-of-its-kind framework for transferring skilled...
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02/12/2023
Variational Integrators and Graph-Based Solvers for Multibody Dynamics in Maximal Coordinates
Multibody dynamics simulators are an important tool in many fields, incl...
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01/17/2023
Aquarium: A Fully Differentiable Fluid-Structure Interaction Solver for Robotics Applications
We present Aquarium, a differentiable fluid-structure interaction solver...
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12/13/2022
Single-Level Differentiable Contact Simulation
We present a differentiable formulation of rigid-body contact dynamics f...
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09/16/2022
Cerberus: Low-Drift Visual-Inertial-Leg Odometry For Agile Locomotion
We present an open-source Visual-Inertial-Leg Odometry (VILO) state esti...
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07/01/2022
Differentiable Collision Detection for a Set of Convex Primitives
Collision detection between objects is critical for simulation, control,...
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07/01/2022
DiffPills: Differentiable Collision Detection for Capsules and Padded Polygons
Collision detection plays an important role in simulation, control, and ...
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06/21/2022
Low-latency Imaging and Inference from LoRa-enabled CubeSats
Recent years have seen the rapid deployment of low-cost CubeSats in low-...
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05/19/2022
CALIPSO: A Differentiable Solver for Trajectory Optimization with Conic and Complementarity Constraints
We present a new solver for non-convex trajectory optimization problems ...
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03/02/2022
Dojo: A Differentiable Simulator for Robotics
We present a differentiable rigid-body-dynamics simulator for robotics t...
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11/25/2021
Joint inference and input optimization in equilibrium networks
Many tasks in deep learning involve optimizing over the inputs to a netw...
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09/10/2021
Trajectory Optimization with Optimization-Based Dynamics
We present a framework for bi-level trajectory optimization in which a s...
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07/12/2021
Linear Contact-Implicit Model-Predictive Control
We present a general approach for controlling robotic systems that make ...
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05/05/2021
Training Structured Mechanical Models by Minimizing Discrete Euler-Lagrange Residual
Model-based paradigms for decision-making and control are becoming ubiqu...
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04/17/2021
ALGAMES: A Fast Augmented Lagrangian Solver for Constrained Dynamic Games
Dynamic games are an effective paradigm for dealing with the control of ...
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11/16/2020
LUCIDGames: Online Unscented Inverse Dynamic Games for Adaptive Trajectory Prediction and Planning
Existing game-theoretic planning methods assume that the robot knows the...
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11/04/2020
Robust Entry Vehicle Guidance with Sampling-Based Invariant Funnels
Managing uncertainty is a fundamental and critical issue in spacecraft e...
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10/16/2020
Direct Policy Optimization using Deterministic Sampling and Collocation
We present an approach for approximately solving discrete-time stochasti...
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06/20/2020
Scalable Identification of Partially Observed Systems with Certainty-Equivalent EM
System identification is a key step for model-based control, estimator d...
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04/21/2020
Structured Mechanical Models for Robot Learning and Control
Model-based methods are the dominant paradigm for controlling robotic sy...
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02/26/2020
Linear-Time Variational Integrators in Maximal Coordinates
Most dynamic simulation tools parameterize the configuration of multi-bo...
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10/22/2019
ALGAMES: A Fast Solver for Constrained Dynamic Games
Dynamic games are an effective paradigm for dealing with the control of ...
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06/10/2019
Bilevel Optimization for Planning through Contact: A Semidirect Method
Many robotics applications, from object manipulation to locomotion, requ...
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02/22/2019
A General Framework for Structured Learning of Mechanical Systems
Learning accurate dynamics models is necessary for optimal, compliant co...
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02/08/2019
A Differentiable Augmented Lagrangian Method for Bilevel Nonlinear Optimization
Many problems in modern robotics can be addressed by modeling them as bi...
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01/25/2019