ContactNets: Learning Discontinuous Contact Dynamics with Smooth, Implicit Representations S Pfrommer, M Halm, M Posa Conference on Robotic Learning, 2020 | 88 | 2020 |
Fundamental challenges in deep learning for stiff contact dynamics M Parmar, M Halm, M Posa 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems …, 2021 | 38* | 2021 |
Learning linear complementarity systems W Jin, A Aydinoglu, M Halm, M Posa Learning for Dynamics and Control Conference, 1137-1149, 2022 | 21 | 2022 |
Modeling and Analysis of Non-unique Behaviors in Multiple Frictional Impacts M Halm, M Posa Robotics: Science and Systems 2019, 2019 | 20 | 2019 |
A Quasi-static Model and Simulation Approach for Pushing, Grasping, and Jamming M Halm, M Posa International Workshop on the Algorithmic Foundations of Robotics (WAFR …, 2018 | 18 | 2018 |
Set-valued rigid-body dynamics for simultaneous, inelastic, frictional impacts M Halm, M Posa The International Journal of Robotics Research, 02783649241236860, 2024 | 14* | 2024 |
Generalization bounded implicit learning of nearly discontinuous functions B Bianchini, M Halm, N Matni, M Posa Learning for Dynamics and Control Conference, 1112-1124, 2022 | 14 | 2022 |
Simultaneous learning of contact and continuous dynamics B Bianchini, M Halm, M Posa Conference on Robot Learning, 3966-3978, 2023 | 7 | 2023 |
Addressing Stiffness-Induced Challenges in Modeling and Identification for Rigid-Body Systems With Friction and Impacts M Halm University of Pennsylvania, 2023 | 2 | 2023 |
Direct Optimization of Robot Parameterization for Trajectory Performance MS Halm | | 2017 |