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Charles Khazoom

CusADi: A GPU Parallelization Framework for Symbolic Expressions and Optimal Control

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Aug 19, 2024
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Tailoring Solution Accuracy for Fast Whole-body Model Predictive Control of Legged Robots

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Jul 15, 2024
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Benchmarking Potential Based Rewards for Learning Humanoid Locomotion

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Jul 19, 2023
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Humanoid Self-Collision Avoidance Using Whole-Body Control with Control Barrier Functions

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Jul 01, 2022
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Dynamic Walking with Footstep Adaptation on the MIT Humanoid via Linear Model Predictive Control

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Jun 08, 2022
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