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Ching-An Cheng

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RMP2 : A Differentiable Policy Class with Control-Theoretic Guarantees
RMPflow: A Geometric Framework for Generation of Multi-Task Motion Policies
RMPflow: A Computational Graph for Automatic Motion Policy Generation
Riemannian Motion Policy Fusion through Learnable Lyapunov Function Reshaping
Predictor Corrector Policy Optimization

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