Featurized Occupation Measures create a primal-dual framework that couples explicit HJB subsolutions with scalable trajectory optimization, proving asymptotic consistency and shifting dimensionality limits to system interconnection topology.
A direct method for trajectory optimization of rigid bodies through contact
3 Pith papers cite this work. Polarity classification is still indexing.
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Pith papers citing it
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2026 3representative citing papers
A multi-agent RL high-level planner outputs task-space velocities that a GPU-parallel QP low-level controller converts to joint velocities while enforcing limits and collisions, yielding robust sim-to-real dexterous grasping with zero-shot steerability.
New real-time hybrid MPC schemes solve QPCCs per sample to yield bounded-error piecewise affine approximations to discontinuous MPC feedback laws for systems with switches.
citing papers explorer
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Featurized Occupation Measures for Structured Global Search in Numerical Optimal Control
Featurized Occupation Measures create a primal-dual framework that couples explicit HJB subsolutions with scalable trajectory optimization, proving asymptotic consistency and shifting dimensionality limits to system interconnection topology.
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Learning Reactive Dexterous Grasping via Hierarchical Task-Space RL Planning and Joint-Space QP Control
A multi-agent RL high-level planner outputs task-space velocities that a GPU-parallel QP low-level controller converts to joint velocities while enforcing limits and collisions, yielding robust sim-to-real dexterous grasping with zero-shot steerability.
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Real-Time Algorithms for Model Predictive Control of Hybrid Dynamical Systems
New real-time hybrid MPC schemes solve QPCCs per sample to yield bounded-error piecewise affine approximations to discontinuous MPC feedback laws for systems with switches.