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03/26/2021
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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03/01/2021
Contact-Implicit Trajectory Optimization for Dynamic Object Manipulation
We present a reformulation of a contact-implicit optimization (CIO) appr...
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09/11/2019
MPC-Net: A First Principles Guided Policy Search
We present an Imitation Learning approach for the control of dynamical s...
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03/09/2019
Locomotion Planning through a Hybrid Bayesian Trajectory Optimization
Locomotion planning for legged systems requires reasoning about suitable...
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12/07/2017