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We present an open-source library of natively differentiable physics and robotics environments, accompanied by gradient-based control methods and a benchmark-ing suite.
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Mujoco: A physics engine for model-based control
Emanuel Todorov, Tom Erez, and Yuval Tassa · 2012
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David Q Mayne · 2014
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Volodymyr Mnih, Koray Kavukcuoglu, David Silver, Andrei A Rusu, Joel Veness, Marc G Bellemare, Alex Graves, Martin Riedmiller, Andreas K Fidjeland, Georg Ostrovski, et al · 2015
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John Schulman, Sergey Levine, Pieter Abbeel, Michael Jordan, and Philipp Moritz · 2015
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Greg Brockman, Vicki Cheung, Ludwig Pettersson, Jonas Schneider, John Schulman, Jie Tang, and Wojciech Zaremba · 2016
Yuval Tassa, Yotam Doron, Alistair Muldal, Tom Erez, Yazhe Li, Diego de Las Casas, David Budden, Abbas Abdolmaleki, Josh Merel, Andrew Lefrancq, et al · 2018
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Online control with adversarial disturbances
Naman Agarwal, Brian Bullins, Elad Hazan, Sham Kakade, and Karan Singh · 2019
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A differentiable physics engine for deep learning in robotics
Jonas Degrave, Michiel Hermans, Joni Dambre, et al · 2019
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Difftaichi: Differentiable programming for physical simulation
Yuanming Hu, Luke Anderson, Tzu-Mao Li, Qi Sun, Nathan Carr, Jonathan Ragan-Kelley, and Frédo Durand · 2019
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Chainqueen: A real-time differentiable physical simulator for soft robotics
Yuanming Hu, Jiancheng Liu, Andrew Spielberg, Joshua B Tenenbaum, William T Freeman, Jiajun Wu, Daniela Rus, and Wojciech Matusik · 2019
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Introduction to online convex optimization
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Mastering the game of go with deep neural networks and tree search
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Dynamic Programming and Optimal Control
Dimitri P. Bertsekas · 2017
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James Bradbury, Roy Frostig, Peter Hawkins, Matthew James Johnson, Chris Leary, Dougal Maclaurin, and Skye Wanderman-Milne · 2018
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Drake: Model-based design and verification for robotics, 2019
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Black-box control for linear dynamical systems
Xinyi Chen and Elad Hazan · 2020
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Adaptive regret for control of time-varying dynamics
Paula Gradu, Elad Hazan, and Edgar Minasyan · 2020
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The nonstochastic control problem
Elad Hazan, Sham Kakade, and Karan Singh · 2020
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Deluca – a differentiable control library:environments, methods, and benchmarking, 2020
Max Simchowitz, Karan Singh, and Elad Hazan · 2020
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Machine learning for medical ventilator control
Daniel Suo, Udaya Ghai, Edgar Minasyan, Paula Gradu, Xinyi Chen, Naman Agarwal, , Cyril Zhang, Karan Singh, Julienne LaChance, Tom Zajdel, Manuel Schottdorf, Daniel Cohen, and Elad Hazan · 2020
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Underactuated Robotics: Algorithms for Walking, Running, Swimming, Flying, and Manipulation (Course Notes for MIT 6.832)
Russ Tedrake · 2020
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