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09/21/2021
Geometric Fabrics: Generalizing Classical Mechanics to Capture the Physics of Behavior
Classical mechanical systems are central to controller design in energy ...
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05/07/2021
CoDE: Collocation for Demonstration Encoding
Roboticists frequently turn to Imitation learning (IL) for data efficien...
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11/11/2020
A Factor-Graph Approach for Optimization Problems with Dynamics Constraints
In this paper, we introduce dynamics factor graphs as a graphical framew...
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10/28/2020
Geometric Fabrics for the Acceleration-based Design of Robotic Motion
This paper describes the pragmatic design and construction of geometric ...
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10/28/2020
Optimization Fabrics for Behavioral Design
Second-order differential equations define smooth system behavior. In ge...
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10/28/2020
Generalized Nonlinear and Finsler Geometry for Robotics
Robotics research has found numerous important applications of Riemannia...
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08/05/2020
Optimization Fabrics
This paper presents a theory of optimization fabrics, second-order diffe...
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05/26/2020
Batch and Incremental Kinodynamic Motion Planning using Dynamic Factor Graphs
This paper presents a kinodynamic motion planner that is able to produce...
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11/22/2019
