Linear-Quadratic Optimal Control in Maximal Coordinates. - Jan Brüdigam; Zachary Manchester (ICRA, 2021)

Linear-Time Variational Integrators in Maximal Coordinates. - Jan Brüdigam; Zachary Manchester (WAFR, 2021)

Linear-Time Contact and Friction Dynamics in Maximal Coordinates using Variational Integrators. - Jan Brüdigam; Jana Janeva; Stefan Sosnowski; Sandra Hirche (CoRR, 2021)

Structure-Preserving Learning Using Gaussian Processes and Variational Integrators. - Jan Brüdigam; Martin Schuck; Alexandre Capone; Stefan Sosnowski; Sandra Hirche (L4DC, 2022)

Dext-Gen: Dexterous Grasping in Sparse Reward Environments with Full Orientation Control. - Martin Schuck; Jan Brüdigam; Alexandre Capone; Stefan Sosnowski; Sandra Hirche (CoRR, 2022)

Variational Integrators and Graph-Based Solvers for Multibody Dynamics in Maximal Coordinates. - Jan Brüdigam; Stefan Sosnowski; Zachary Manchester; Sandra Hirche (CoRR, 2023)

Jacta: A Versatile Planner for Learning Dexterous and Whole-body Manipulation. - Jan Brüdigam; Ali-Adeeb Abbas; Maks Sorokin; Kuan Fang; Brandon Hung; Maya Guru; Stefan Sosnowski; Jiuguang Wang; Sandra Hirche; Simon Le Cleac'h (CoRL, 2024)

Reinforcement Learning with Lie Group Orientations for Robotics. - Martin Schuck; Jan Brüdigam; Sandra Hirche; Angela P. Schoellig (CoRR, 2024)

Kernel-Based Optimal Control: An Infinitesimal Generator Approach. - Petar Bevanda; Nicolas Hoischen; Tobias Wittmann; Jan Brüdigam; Sandra Hirche; Boris Houska (L4DC, 2025)

Toward Near-Globally Optimal Nonlinear Model Predictive Control via Diffusion Models. - Tzu-Yuan Huang; Armin Lederer; Nicolas Hoischen; Jan Brüdigam; Xuehua Xiao; Stefan Sosnowski; Sandra Hirche (L4DC, 2025)