Inspired by @michellearning I will be sharing 10 robotics papers that I really enjoyed reading (made me think and raised my heart rate) when I was a grad student. One paper per day. Starting tonight, ending on xmas day. Here we go: 👇🤖 1/n

Note: this is not necessarily an exhaustive list of the best or most influential papers in robotics, nor is it a list of my current favorite papers. These are papers that I found compelling and I still enjoy re-reading from time to time. The order is random. 2/n
[Paper #1] LQR-Trees by Russ Tedrake https://t.co/nYDaHYJryk. I love this paper. It's about feedback control and motion planning with probabilistic guarantees. Given a desired goal state, sample an initial state and find a nominal trajectory from the initial state to the goal 3/n
using LQR control (linear dynamics, quadratic cost). So far, so good. Then it gets interesting: it sets out to explicitly compute the region of stability of the computed controller without doing sampling. It underestimates this region by trying to compute a Lyapunov function 4/n
that will certify stability in the region. It only considers Lyapunov functions that are polynomials of deg N and optimizes for a positive function using sums-of-squares programming. So, now you have a nominal trajectory to the goal and a region of stability around it. 5/n
Repeat this process backwards by setting the new goal to be in the computed region of stability, and you have a region of stability that grows over time and (a) covers space, (b) can lead to complex global behaviors from simple linear controllers that are locally valid, 6/n
and (c) is one way to address compositionality in control. So, does all of this work in practice? Yes, with a few asterisks: the major bottleneck is solving the sum-of-squares program that computes the region of stability. It has been shown to be practical for low-dim systems 7/n
This paper, published in ~2010, was influenced by Pablo Parrilo's PhD thesis on semidef programming (2000), as well as older ideas about funnels from Matt Mason https://t.co/4MxHCJQy7l (1985) Rob Burridge, Alfred Rizzi, and Dan Koditschek https://t.co/LjNnY0ItD3 (1999) 8/n
Some of the limitations of the LQR Trees paper were addressed by @Majumdar_Ani in his PhD thesis https://t.co/m5jcbmZ3x5 I encourage you to read it and check out his other papers https://t.co/vso7qQchGp 9/n

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@franciscodeasis https://t.co/OuQaBRFPu7
Unfortunately the "This work includes the identification of viral sequences in bat samples, and has resulted in the isolation of three bat SARS-related coronaviruses that are now used as reagents to test therapeutics and vaccines." were BEFORE the


chimeric infectious clone grants were there.https://t.co/DAArwFkz6v is in 2017, Rs4231.
https://t.co/UgXygDjYbW is in 2016, RsSHC014 and RsWIV16.
https://t.co/krO69CsJ94 is in 2013, RsWIV1. notice that this is before the beginning of the project

starting in 2016. Also remember that they told about only 3 isolates/live viruses. RsSHC014 is a live infectious clone that is just as alive as those other "Isolates".

P.D. somehow is able to use funds that he have yet recieved yet, and send results and sequences from late 2019 back in time into 2015,2013 and 2016!

https://t.co/4wC7k1Lh54 Ref 3: Why ALL your pangolin samples were PCR negative? to avoid deep sequencing and accidentally reveal Paguma Larvata and Oryctolagus Cuniculus?
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