My Topics

Presentations:

• Differentiable Optimization - backpropagate through parametrized optimization problems to optimize the parameters themselves.
• Hierarchical Quadratic Programming (HQP) and Model Predictive Control (MPC) - mathematical formulation and application of HQP and MPC in robotics.
• Hierarchical Quadratic Programming for Robot Control - mathematical formulation and application of HQP to legged locomotion, temperature safe control, and more. Created for the Occam Project Talk.
• PhD Defense - Optimization Methods for Prioritized Control, Sampling Design, and Motion Planning in Robotics - my PhD defense presentation, unified by Hierarchical Quadratic Programming (HQP) for prioritized control, sampling design, and motion planning in robotics.