Vince Kurtz

収録論文 23本 ・ フィジカルAI/ロボット学習

※arXiv著者名で収集。同姓同名の別人の論文が含まれる場合があります。

論文

• 接触を狙う：動的モーションリターゲティングのための接触暗黙的多重シューティング法
  モーションリターゲティング2026/8/4

  動的に実現可能な全身軌道を生成するため、微分可能なシミュレータを非線形計画法に組み込み、接触や摩擦などを内部で解決する新しいリターゲティング手法を提案。強化学習の訓練を加速し、実機でのゼロショット転送も実証した。

• Shooting for Contact: Contact-Implicit Multiple Shooting for Dynamic Motion Retargeting
  2026/8/1
• On Surprising Effects of Risk-Aware Domain Randomization for Contact-Rich Sampling-based Predictive Control
  2026/5/1
• CENIC: Convex Error-controlled Numerical Integration for Contact
  2025/11/1
• Risk-Guided Diffusion: Toward Deploying Robot Foundation Models in Space, Where Failure Is Not An Option
  2025/6/1
• Reduced-Order Model Guided Contact-Implicit Model Predictive Control for Humanoid Locomotion
  2025/2/1
• Generative Predictive Control: Flow Matching Policies for Dynamic and Difficult-to-Demonstrate Tasks
  2025/2/1
• Equality Constrained Diffusion for Direct Trajectory Optimization
  2024/10/1
• DROP: Dexterous Reorientation via Online Planning
  2024/9/1
• Inverse Dynamics Trajectory Optimization for Contact-Implicit Model Predictive Control
  2023/9/1
• Temporal Logic Motion Planning with Convex Optimization via Graphs of Convex Sets
  2023/1/1
• Mixed-Integer Programming for Signal Temporal Logic with Fewer Binary Variables
  2022/4/1
• Robust Approximate Simulation for Hierarchical Control of Piecewise Affine Systems under Bounded Disturbances
  2022/3/1
• Contact-Implicit Trajectory Optimization with Hydroelastic Contact and iLQR
  2022/2/1
• Mini Cheetah, the Falling Cat: A Case Study in Machine Learning and Trajectory Optimization for Robot Acrobatics
  2021/9/1
• Control Barrier Functions for Singularity Avoidance in Passivity-Based Manipulator Control
  2021/9/1
• Trajectory Optimization for High-Dimensional Nonlinear Systems under STL Specifications
  2020/11/1
• Automatic Trajectory Synthesis for Real-Time Temporal Logic
  2020/9/1
• Approximate Simulation for Template-Based Whole-Body Control
  2020/6/1
• A Smooth Robustness Measure of Signal Temporal Logic for Symbolic Control
  2020/6/1
• Formal Connections between Template and Anchor Models via Approximate Simulation
  2019/9/1
• Kalman Filtering with Gaussian Processes Measurement Noise
  2019/9/1
• Bayesian Optimization for Polynomial Time Probabilistically Complete STL Trajectory Synthesis
  2019/5/1