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Michael Posa

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Simultaneous Learning of Contact and Continuous Dynamics

Oct 18, 2023
Bibit Bianchini, Mathew Halm, Michael Posa

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Adaptive Contact-Implicit Model Predictive Control with Online Residual Learning

Oct 15, 2023
Wei-Cheng Huang, Alp Aydinoglu, Wanxin Jin, Michael Posa

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Reinforcement Learning for Reduced-order Models of Legged Robots

Oct 15, 2023
Yu-Ming Chen, Hien Bui, Michael Posa

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Enhancing Task Performance of Learned Simplified Models via Reinforcement Learning

Oct 15, 2023
Hien Bui, Michael Posa

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Instance-Agnostic Geometry and Contact Dynamics Learning

Sep 28, 2023
Mengti Sun, Bowen Jiang, Bibit Bianchini, Camillo Jose Taylor, Michael Posa

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Bipedal Walking on Constrained Footholds with MPC Footstep Control

Sep 14, 2023
Brian Acosta, Michael Posa

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Consensus Complementarity Control for Multi-Contact MPC

Apr 21, 2023
Alp Aydinoglu, Adam Wei, Michael Posa

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Impact-Invariant Control: Maximizing Control Authority During Impacts

Mar 01, 2023
William Yang, Michael Posa

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Beyond Inverted Pendulums: Task-optimal Simple Models of Legged Locomotion

Jan 05, 2023
Yu-Ming Chen, Jianshu Hu, Michael Posa

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