├── .github └── workflows │ └── latex.yml ├── .gitignore ├── COPYING ├── Chapters ├── Part_1 │ ├── chapter_1.tex │ ├── chapter_2.tex │ ├── chapter_3.tex │ └── chapter_4.tex ├── Part_2 │ ├── chapter_5.tex │ ├── chapter_6.tex │ ├── chapter_7.tex │ └── chapter_8.tex ├── appendix.tex ├── covid_impact_statement.tex ├── epilogue.tex └── prologue.tex ├── ClassicThesis.tcp ├── ClassicThesis.tps ├── FrontBackmatter ├── abstract.tex ├── acknowledgments.tex ├── bibliography.tex ├── colophon.tex ├── contents.tex ├── copyright.tex ├── cover.tex ├── declaration.tex ├── dedication.tex ├── dirty_titlepage.tex ├── publications.tex ├── titleback.tex └── titlepage.tex ├── README.md ├── classicthesis-arsclassica.sty ├── classicthesis-config.tex ├── classicthesis.sty ├── images ├── appendix │ └── center_of_pressure.tikz ├── background │ ├── data_generating_process_mdp.tikz │ ├── force_propagation.tikz │ ├── icons │ │ ├── artificial_intelligence_1870470.png │ │ ├── double_arrow_2271561.png │ │ ├── robot_1106917.png │ │ └── world_2699516.png │ ├── joint_model.tikz │ └── rl_setting.tikz ├── contributions │ ├── chapter_5 │ │ ├── icub.png │ │ ├── icub_ignition.png │ │ └── scenario_and_gym_ignition.tikz │ ├── chapter_6 │ │ ├── forces_base.tikz │ │ ├── forces_chest.tikz │ │ ├── forces_elbow.tikz │ │ ├── hierarchical_control_system.tikz │ │ ├── icub_q0.jpeg │ │ ├── learning_curves.tikz │ │ ├── results_final_policy_20M_polar_pi_frac_6_5rep_range50_700_25_rand_q_2deg_mu_0_2_v3_adjusted.eps │ │ ├── results_polar_pi_frac_2_5rep_range50_700_25_rand_v3_adjusted.eps │ │ └── sequences_highlight.png │ ├── chapter_7 │ │ ├── bouncing_ball_trajectory.png │ │ ├── bouncing_base_height.tikz │ │ ├── bouncing_energy_force.tikz │ │ ├── bouncing_energy_force_detail_1.tikz │ │ ├── bouncing_energy_force_detail_2.tikz │ │ ├── box_falling_inclined_mu_0.0.tikz │ │ ├── box_falling_inclined_mu_0.5.tikz │ │ ├── box_falling_inclined_mu_2.0.tikz │ │ ├── sliding_box.tikz │ │ └── soft_contact_model.tikz │ └── chapter_8 │ │ ├── astronaut_1.png │ │ ├── astronaut_2.png │ │ ├── astronaut_3.png │ │ ├── astronaut_4.png │ │ ├── cartpole.png │ │ ├── cartpole_benchmark_mujoco.tikz │ │ ├── cartpole_jaxsim_vs_mujoco.tikz │ │ ├── jaxsim_benchmark_algo_anymal.tikz │ │ ├── jaxsim_benchmark_algo_icub.tikz │ │ ├── jaxsim_benchmark_algo_panda.tikz │ │ ├── jaxsim_benchmark_parallel.tikz │ │ ├── jaxsim_conservation_energy.tikz │ │ ├── jaxsim_conservation_momentum.tikz │ │ └── learning_curves.tikz └── frontmatter │ ├── logo-iit.png │ └── logo-uom.png ├── latexmkrc ├── new_commands.tex ├── thesis.tex ├── tikzexternalize └── dummy.txt └── zotero.bib /.github/workflows/latex.yml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/diegoferigo/phd-thesis/HEAD/.github/workflows/latex.yml -------------------------------------------------------------------------------- /.gitignore: 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