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Equivariant Diffusion Policy
Recent work has shown diffusion models are an effective approach to learning the multimodal distributions arising from demonstration data in behavior cloning.
First Steps: Latent-Space Control with Semantic Constraints for Quadruped Locomotion
In addition, kinodynamic constraints are often non-differentiable and difficult to implement in an optimisation approach.
Efficient Model Identification for Tensegrity Locomotion
This paper aims to identify in a practical manner unknown physical parameters, such as mechanical models of actuated robot links, which are critical in dynamical robotic tasks.
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