Encoding Physical Constraints in Differentiable Newton-Euler Algorithm

1 code implementation • L4DC 2020 • Giovanni Sutanto, Austin S. Wang, Yixin Lin, Mustafa Mukadam, Gaurav S. Sukhatme, Akshara Rai, Franziska Meier

The recursive Newton-Euler Algorithm (RNEA) is a popular technique for computing the dynamics of robots.

Robotics

Learning Manifolds for Sequential Motion Planning

1 code implementation • 13 Jun 2020 • Isabel M. Rayas Fernández, Giovanni Sutanto, Peter Englert, Ragesh K. Ramachandran, Gaurav S. Sukhatme

Motion planning with constraints is an important part of many real-world robotic systems.

Robotics Computational Geometry

Learning Equality Constraints for Motion Planning on Manifolds

1 code implementation • 24 Sep 2020 • Giovanni Sutanto, Isabel M. Rayas Fernández, Peter Englert, Ragesh K. Ramachandran, Gaurav S. Sukhatme

Constrained robot motion planning is a widely used technique to solve complex robot tasks.

Motion Planning valid

Differentiable and Learnable Robot Models

1 code implementation • 22 Feb 2022 • Franziska Meier, Austin Wang, Giovanni Sutanto, Yixin Lin, Paarth Shah

Building differentiable simulations of physical processes has recently received an increasing amount of attention.