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The Power of Gradients in Inverse Dynamics Problems - Tao Du, MIT
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- 1 Introduction
- 2 Parameters
- 3 Forward Dynamics Problems
- 4 Inverse Dynamics Problems
- 5 Gradientbased Approaches
- 6 Problem Statement
- 7 Why Inverse Dynamics
- 8 Challenges
- 9 Results
- 10 Phase 2 Derived Ingredients
- 11 Development Goals
- 12 Examples
- 13 Trajectory Optimization
- 14 Sim Transfer Example
- 15 Challenge 1 Shadows
- 16 Challenge 1 Idea
- 17 Summary
- 18 Story
- 19 Questions
