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This work was supported by the National Key R&D Program of China under Grant 2024YFF0505303.Qi Wei (v7sjtu@sjtu.edu.cn), Jianfeng Tao (corresponding author), Haoyang Tan, and Hongyu Nie are with the School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai 200240, China (e-mail: jftao@sjtu.edu.cn)
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Achieve energy-consistent parallel simulations of robotic systems with provable passivity guarantees, even with limited computational resources, by using a novel iterative coupling scheme.
Unlock globally optimal control policies in high-dimensional systems by unifying trajectory optimization with Hamilton-Jacobi-Bellman methods via a novel "Featurized Occupation Measure" framework.
