no code implementations • 26 Mar 2021 • Saumya Saxena, Alex LaGrassa, Oliver Kroemer
We learn a switching linear dynamical model with contacts encoded in switching conditions as a close approximation of our system dynamics.
no code implementations • 9 Nov 2020 • Mohit Sharma, Jacky Liang, Jialiang Zhao, Alex LaGrassa, Oliver Kroemer
Manipulation tasks can often be decomposed into multiple subtasks performed in parallel, e. g., sliding an object to a goal pose while maintaining contact with a table.