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Learning Reactive and Predictive Differentiable Controllers for Switching Linear Dynamical Models
We learn a switching linear dynamical model with contacts encoded in switching conditions as a close approximation of our system dynamics.
Learning to Compose Hierarchical Object-Centric Controllers for Robotic Manipulation
Manipulation tasks can often be decomposed into multiple subtasks performed in parallel, e. g., sliding an object to a goal pose while maintaining contact with a table.
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