4 accepted papers
Optimization layers within neural network architectures have become increasingly popular for their ability to solve a wide range of machine learning tasks and to model domain-specific knowledge. However, designing optimization layers requires careful consideration as the underlying optimization prob…
Collision detection is an important component of many robotics applications, from robot control to simulation, including motion planning and estimation. While the seminal works on the topic date back to the 80s, it is only recently that the question of properly differentiating collision detection ha…
Trajectory optimization is an efficient approach for solving optimal control problems for complex robotic systems. It relies on two key components: first the transcription into a sparse nonlinear program, and second the corresponding solver to iteratively compute its solution. On one hand, different…
Quadratic programming (QP) has become a core modelling component in the modern engineering toolkit. This is particularly true for simulation, planning and control in robotics. Yet, modern numerical solvers have not reached the level of efficiency and reliability required in practical applications wh…