CORDIS Project
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This project develops an efficient differentiable robot dynamics simulator to enhance advanced robot control techniques, such as model predictive control and reinforcement learning. By optimizing existing algorithms and leveraging the Pinocchio library, it aims to provide a faster, more effective tool for robotics appl…
Differentiable robot dynamics simulation is a crucial enabler of advanced robot control.
It is at the heart of both model predictive control (MPC) and learning-based approaches (e.g. reinforcement learning [RL]), which are among the most successful and actively researched robot control algorithms.
Increased usage of the computationally demanding MPC/RL controllers has led to a growing need for efficient dynamics simulators.
However, existing simulators internally use inefficient high-complexity…
INSTITUT NATIONAL DE RECHERCHE EN INFORMATIQUE ET AUTOMATIQUE
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