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DOC: Differentiable Optimal Control for Retargeting Motions Onto Legged Robots
DescriptionWe present a Differentiable Optimal Control (DOC) framework that facilitates the computation of analytical derivatives of optimal control and state trajectories with respect to user-defined parameters. We demonstrate the utility of DOC by retargeting mocap and animation data onto a family of legged robots of varying proportions and mass distribution.
LocationPetree Hall C
Research & Education
Artificial Intelligence/Machine Learning