Fundamental Challenges in Deep Learning for Stiff Contact Dynamics
Mihir Parmar,Mathew Halm,Michael Posa,Mihir Parmar,Mathew Halm,Michael Posa
Frictional contact has been extensively studied as the core underlying behavior of legged locomotion and manipulation, and its nearly-discontinuous nature makes planning and control difficult even when an accurate model of the robot is available. Here, we present empirical evidence that learning an accurate model in the first place can be confounded by contact, as modern deep learning approaches a...
