human: Given a hyperedge-centered hypergraph: <hypergraph>, where the center hyperedge is induced by one source paper and its member nodes are the cited papers.

Details of the hypergraph:
Center hyperedge (induced by source paper "feedback mpc for torque controlled legged robots"):
  Abstract: The computational power of mobile robots is currently insufficient to achieve torque level whole-body Model Predictive Control (MPC) at the update rates required for complex dynamic systems such as legged robots. This problem is commonly circumvented by using a fast tracking controller to compensate for model errors between updates. In this work, we show that the feedback policy from a Differential Dynamic Programming (DDP) based MPC algorithm is a viable alternative to bridge the gap between the low MPC update rate and the actuation command rate. We propose to augment the DDP approach with a relaxed barrier function to address inequality constraints arising from the friction cone. A frequency-dependent cost function is used to reduce the sensitivity to high-frequency model errors and actuator bandwidth limits. We demonstrate that our approach can find stable locomotion policies for the torque-controlled quadruped, ANYmal, both in simulation and on hardware.

Includes members:
  Member "sensitivity of legged balance control to uncertainties and sampling period":
    also connected through other hyperedges:
      (none)
  Member "frequency aware model predictive control":
    also connected through other hyperedges:
      - Hyperedge HE-1 (induced by source paper "stance locomotion adaptation over soft terrain")
  Member "real time motion planning of legged robots a model predictive control approach":
    also connected through other hyperedges:
      - Hyperedge HE-2 (induced by source paper "whole body control of a mobile manipulator using end to end reinforcement learning")
  Member "an efficient optimal planning and control framework for quadrupedal locomotion":
    also connected through other hyperedges:
      - Hyperedge HE-3 (induced by source paper "mpc net a first principles guided policy search")
  Member "robot impedance control and passivity analysis with inner torque and velocity feedback loops":
    also connected through other hyperedges:
      - Hyperedge HE-4 (induced by source paper "stance locomotion adaptation over soft terrain")
  Member "balancing and walking using full dynamics lqr control with contact constraints":
    also connected through other hyperedges:
      - Hyperedge HE-5 (induced by source paper "lvis learning from value function intervals for contact aware robot controllers")

Question: Please tell me which class the source paper belongs to. The 40 classes are: cs.NA(Numerical Analysis), cs.MM(Multimedia), cs.LO(Logic in Computer Science), cs.CY(Computers and Society), cs.CR(Cryptography and Security), cs.DC(Distributed, Parallel, and Cluster Computing), cs.HC(Human-Computer Interaction), cs.CE(Computational Engineering, Finance, and Science), cs.NI(Networking and Internet Architecture), cs.CC(Computational Complexity), cs.AI(Artificial Intelligence), cs.MA(Multiagent Systems), cs.GL(General Literature), cs.NE(Neural and Evolutionary Computing), cs.SC(Symbolic Computation), cs.AR(Hardware Architecture), cs.CV(Computer Vision and Pattern Recognition), cs.GR(Graphics), cs.ET(Emerging Technologies), cs.SY(Systems and Control), cs.CG(Computational Geometry), cs.OH(Other Computer Science), cs.PL(Programming Languages), cs.SE(Software Engineering), cs.LG(Machine Learning), cs.SD(Sound), cs.SI(Social and Information Networks), cs.RO(Robotics), cs.IT(Information Theory), cs.PF(Performance), cs.CL(Computation and Language), cs.IR(Information Retrieval), cs.MS(Mathematical Software), cs.FL(Formal Languages and Automata Theory), cs.DS(Data Structures and Algorithms), cs.OS(Operating Systems), cs.GT(Computer Science and Game Theory), cs.DB(Databases), cs.DL(Digital Libraries), cs.DM(Discrete Mathematics). Directly output the class name.

gpt: cs.RO(Robotics)