A differentiable 'sum of Lyapunov exponents' score is used as a robustness objective to co-optimize robot hardware and control policies in simulation.
Co-designing versatile quadruped robots for dy- namic and energy-efficient motions
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Enhancing Robotic System Robustness via Lyapunov Exponent-Based Optimization
A differentiable 'sum of Lyapunov exponents' score is used as a robustness objective to co-optimize robot hardware and control policies in simulation.