Distributed Robotics Lab
he / him / his
Research: Soft-Rigid Robot Design, Modeling, and Control
Draw Robots: Data-Oriented Introduction to Graphics × Robotics
This is a short course to help undergraduate and early graduate researchers pick up the practical skills needed to do novel research at the intersection of computer graphics and robotics.
Notation: E_x = dE / dx, E_xx = d2E / dx2.
Gradient descent: The first order Taylor expansion of the energy
Newton's method: The first order Taylor expansion of the gradient
Basic backtracking line search:
Given current best guess x and search direction
Direct sensitivity analysis: Given control u, the resulting state