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 "highly dynamic quadruped locomotion via whole body impulse control and model predictive control"):
  Abstract: Dynamic legged locomotion is a challenging topic because of the lack of established control schemes which can handle aerial phases, short stance times, and high-speed leg swings. In this paper, we propose a controller combining whole-body control (WBC) and model predictive control (MPC). In our framework, MPC finds an optimal reaction force profile over a longer time horizon with a simple model, and WBC computes joint torque, position, and velocity commands based on the reaction forces computed from MPC. Unlike existing WBCs, which attempt to track commanded body trajectories, our controller is focused more on the reaction force command, which allows it to accomplish high speed dynamic locomotion with aerial phases. The newly devised WBC is integrated with MPC and tested on the Mini-Cheetah quadruped robot. To demonstrate the robustness and versatility, the controller is tested on six different gaits in a number of different environments, including outdoors and on a treadmill, reaching a top speed of 3.7 m/s.

Includes members:
  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 "dynamic locomotion for passive ankle biped robots and humanoids using whole body locomotion control":
    also connected through other hyperedges:
      - Hyperedge HE-2 (induced by source paper "data efficient and safe learning for locomotion via simplified model")
  Member "learning agile and dynamic motor skills for legged robots":
    also connected through other hyperedges:
      - Hyperedge HE-3 (induced by source paper "rapidly adaptable legged robots via evolutionary meta learning")
  Member "whole body nonlinear model predictive control through contacts for quadrupeds":
    also connected through other hyperedges:
      - Hyperedge HE-4 (induced by source paper "guided constrained policy optimization for dynamic quadrupedal robot locomotion")
  Member "stability of surface contacts for humanoid robots closed form formulae of the contact wrench cone for rectangular support areas":
    also connected through other hyperedges:
      - Hyperedge HE-5 (induced by source paper "efficient trajectory generation for robotic systems constrained by contact forces")

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)