Leveraging Randomized Smoothing for Optimal Control of Nonsmooth
Dynamical Systems

Leveraging Randomized Smoothing for Optimal Control of Nonsmooth Dynamical Systems

8 March 2022

Quentin Le Lidec

Louis Montaut

Cordelia Schmid

Justin Carpentier

Papers citing "Leveraging Randomized Smoothing for Optimal Control of Nonsmooth Dynamical Systems"

16 / 16 papers shown

Title
Dexterous Contact-Rich Manipulation via the Contact Trust Region H. Suh Tao Pang Tong Zhao Russ Tedrake 23 4 0 04 May 2025
Online Friction Coefficient Identification for Legged Robots on Slippery Terrain Using Smoothed Contact Gradients Hajun Kim Dongyun Kang Min-Gyu Kim Gijeong Kim Hae-Won Park 53 0 0 24 Feb 2025
NAS: N-step computation of All Solutions to the footstep planning problem Jiayi Wang Saeid Samadi Hefan Wang Pierre Fernbach O. Stasse S. Vijayakumar Steve Tonneau 27 0 0 17 Jul 2024
Constrained Dynamics Simulation: More With Less A. Sathya AI4CE 16 0 0 31 May 2024
Learning control strategy in soft robotics through a set of configuration spaces Etienne Ménager Christian Duriez 23 0 0 21 Feb 2024
Towards Tight Convex Relaxations for Contact-Rich Manipulation B. P. Graesdal S. Y. C. Chia Tobia Marcucci Savva Morozov Alexandre Amice P. Parrilo Russ Tedrake 40 21 0 15 Feb 2024
Trust, But Verify: A Survey of Randomized Smoothing Techniques Anupriya Kumari Devansh Bhardwaj Sukrit Jindal Sarthak Gupta AAML 19 4 0 19 Dec 2023
Inverse Dynamics Trajectory Optimization for Contact-Implicit Model Predictive Control Vince Kurtz Alejandro Castro Aykut Özgün Önol Hai Lin 39 15 0 04 Sep 2023
Contact Models in Robotics: a Comparative Analysis Quentin Le Lidec Wilson Jallet Louis Montaut Ivan Laptev Cordelia Schmid Justin Carpentier 23 28 0 13 Apr 2023
Smoothed Online Learning for Prediction in Piecewise Affine Systems Adam Block Max Simchowitz Russ Tedrake 17 11 0 26 Jan 2023
Differentiable Collision Detection: a Randomized Smoothing Approach Louis Montaut Quentin Le Lidec Antoine Bambade Vladimir Petrik Josef Sivic Justin Carpentier 38 27 0 19 Sep 2022
Augmenting differentiable physics with randomized smoothing Quentin Le Lidec Louis Montaut Cordelia Schmid Ivan Laptev Justin Carpentier 15 4 0 23 Jun 2022
Global Planning for Contact-Rich Manipulation via Local Smoothing of Quasi-dynamic Contact Models Tao Pang H. Suh Lujie Yang Russ Tedrake 24 58 0 22 Jun 2022
Temporal Difference Learning with Continuous Time and State in the Stochastic Setting Ziad Kobeissi Francis R. Bach OffRL 8 2 0 16 Feb 2022
Do Differentiable Simulators Give Better Policy Gradients? H. Suh Max Simchowitz K. Zhang Russ Tedrake 23 94 0 02 Feb 2022
Bundled Gradients through Contact via Randomized Smoothing H. Suh Tao Pang Russ Tedrake 74 52 0 11 Sep 2021