PRIME is a MAP optimization framework that refines onboard kinematics into dynamically consistent trajectories for legged robots while jointly estimating contact forces and inertial parameters using differentiable smoothed contact dynamics.
Opt2skill: Imitating dynamically-feasible whole-body trajectories for versatile humanoid loco-manipulation,
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PRIME: Physically-consistent Robotic Inertial and Motion Estimation for Legged and Humanoid Robots
PRIME is a MAP optimization framework that refines onboard kinematics into dynamically consistent trajectories for legged robots while jointly estimating contact forces and inertial parameters using differentiable smoothed contact dynamics.