2021
Fast and Feature-Complete Differentiable Physics Engine for Articulated Rigid Bodies with Contact Constraints
RSS 2021poster
We present a fast and feature-complete differentiable physics engine; Nimble (
3 accepted papers
We present a fast and feature-complete differentiable physics engine; Nimble (
Addressing uncertainty is critical for autonomous systems to robustly adapt to the real world. We formulate the problem of model uncertainty as a continuous Bayes-Adaptive Markov Decision Process (BAMDP), where an agent maintains a posterior distribution over latent model parameters given a history…
In this paper, we introduce a Markov chain Monte Carlo (MCMC)method to solve multi-objective motion-planning problems. We formulate the problem of finding Pareto-optimal trajectories as a problem of sampling trajectories from a Pareto-optimal set. We define an implicit uniform distribution over the…