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TC Virtual Poster Session and Networking Event 2023


Technical Committee on Model-Based Optimization for Robotics will hold a virtual poster session and networking event on July 11th, 2023 (9:00-11:30 AM EDT, 3:00-5:30 PM CEST, July 10th 10:00 PM - 12:30 AM JST). We will kick off the event with a short welcome and then hold poster sessions on Posters covering recent conferences and journals, and/or other work in progress will be presented.

There will be a best poster award valued at $250 (procedures to be explained during the event).

Event Details

Date/Time: July 11th, 2023, 9:00-11:30 AM EDT (3:00-5:30 PM CEST, July 10th 10:00 PM - 12:30 AM JST)

Schedule (all times are in EDT) - there is an overlap of 30 minutes between the two poster sessions:

Time Schedule Item Link
9:00 - 9:05 AM Welcome
9:05 - 10:30 AM Poster Session 1 (room 1 and 2)
10:00 - 11:25 AM Poster Session 2 (room 3 and 4)
11:25 - 11:30 AM Closing remarks and poster award winner announcement

Session 1 Posters

Room 1

Simultaneous Trajectory Optimization and Contact Selection for Multi-Modal Manipulation Planning, Mengchao Zhang, Devesh K. Jha, Arvind U. Raghunathan, Kris Hauser

QPLayer: a generic and efficient approach for differentiating quadratic programming problems, Antoine Bambade, Fabian Schramm, Adrien Taylor, Justin Carpentier

Convergent iLQR for Safe Trajectory Planning and Control of Legged Robots, James Zhu, J Joe Payne, Aaron M Johnson

CAPO: Control and Actuator Placement Optimization For Task-Driven Robot Design, Mitchell Fogelson, Giusy Falcone, Zachary Manchester

Geometric Algebra for Optimal Control in Robotics using gafro, Tobias Löw and Sylvain Calinon

Room 2

Solid State Formation Flying, Jacob Willis, Giusy Falcone, Zachary Manchester

CACTO: Continuous Actor-Critic with Trajectory Optimization—Towards global optimality, Gianluigi Grandesso, Elisa Alboni, Gastone P. Rosati Papini, Patrick M. Wensing, Andrea Del Prete

The hierarchical Newton’s method for numerically stable prioritized dynamic control, Kai Pfeiffer

Robust Task-Space Quadratic Programming for Kinematic-Controlled Robots, Mohamed Djeha, Pierre Gergondet, Abderrahmane Kheddar

Multi-Contact Task and Motion Planning Guided by Video Demonstration, Kateryna Zorina, David Kovar, Florent Lamiraux, Nicolas Mansard, Justin Carpentier, Josef Sivic, Vladimir Petrik

Session 2 Posters

Room 3

SLoMo: A General System for Legged Robot Motion Imitation from Casual Videos, John Zhang, Shuo Yang, Gengshan, Yang, Arun Bishop, Deva Ramanan, Zachary Manchester

PROXDDP: Proximal and Efficient Constrained Trajectory Optimization, Wilson Jallet, Antoine Bambade, Etienne Arlaud, Sarah Kazdadi, Nicolas Mansard, Justin Carpentier

Impact-Aware Task-Space Programming Control, Yuquan Wang, Niels Dehio, Arnaud Tanguy, and Abderrahmane Kheddar

Stagewise Newton Method for Dynamic Game Control with Imperfect State Observation, Armand Jordana, Bilal Hammoud, Justin Carpentier, Ludovic Righetti

Self-Correcting Quadratic Programming-Based Robot Control, Farshad Khadivar, Konstantinos Chatzilygeroudis, and Aude Billard

Room 4

Accelerating Nonlinear MPC with Warm Started Iterative Solvers on GPUs, Emre Adabag, Miloni Atal, William Gerard, Brian Plancher

VBOC: Learning the Viability Boundary of a Robot Manipulator using Optimal Control, Asia La Rocca, Matteo Saveriano, Andrea Del Prete

Design of topology optimized compliant legs for bio-inspired quadruped robots, Yilun Sun and Tim C. Lueth

Contact Models in Robotics: a Comparative Analysis, Quentin Le Lidec, Wilson Jallet, Louis Montaut, Ivan Laptev, Cordelia Schmid, Justin Carpentier

Generalized Rigid-Body Dynamics Algorithms for Systems with Complex Sub-Mechanisms, Matthew Chignoli, Nicholas Adrian, Sangbae Kim, and Patrick Wensing