Lecture

Trajectory Optimization with CALIPSO

Description

This lecture presents CALIPSO, a differentiable solver for trajectory optimization with conic and complementarity constraints, discussing the challenges in robotics, existing tools, primal-dual and augmented Lagrangian methods, interior-point cone programming, and examples like ball-in-cup and quadruped gait.

Official source

https://mediaspace.epfl.ch/media/0_iiltlj9y

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Ontological neighbourhood

Theoretical computer science

Algorithms and data structures: Combinatorial optimization

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