Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: A Differentiable Newton-Euler Algorithm for Real-World Robotics   Obtaining dynamics models is essential for robotics to achieve accurate
model-based controllers and simulators for planning. The dynamics models are
typically obtained using model specification of the manufacturer or simple
numerical methods such as linear regression. However, this approach does not
guarantee physically plausible parameters and can only be applied to kinematic
chains consisting of rigid bodies. In this article, we describe a
differentiable simulator that can be used to identify the system parameters of
real-world mechanical systems with complex friction models, holonomic as well
as non-holonomic constraints. To guarantee physically consistent parameters, we
utilize virtual parameters and gradient-based optimization. The described
Differentiable Newton-Euler Algorithm (DiffNEA) can be applied to a class of
dynamical systems and guarantees physically plausible predictions. The
extensive experimental evaluation shows, that the proposed model learning
approach learns accurate dynamics models of systems with complex friction and
non-holonomic constraints. Especially in the offline reinforcement learning
experiments, the identified DiffNEA models excel. For the challenging ball in a
cup task, these models solve the task using model-based offline reinforcement
learning on the physical system. The black-box baselines fail on this task in
simulation and on the physical system despite using more data for learning the
model.

28
The categories of this paper are: alg-geom
0
The categories of this paper are: hep-ph
11
The categories of this paper are: hep-lat
5
The categories of this paper are: gr-qc
23
The categories of this paper are: solv-int
22
The categories of this paper are: chao-dyn
14
The categories of this paper are: math-ph
35
The categories of this paper are: mtrl-th
2
The categories of this paper are: math
17
The categories of this paper are: q-fin
34
The categories of this paper are: chem-ph
24
The categories of this paper are: dg-ga
18
The categories of this paper are: econ
26
The categories of this paper are: bayes-an
20
The categories of this paper are: acc-phys
19
The categories of this paper are: eess