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 "crocoddyl an efficient and versatile framework for multi contact optimal control"):
  Abstract: We introduce Crocoddyl (Contact RObot COntrol by Differential DYnamic Library), an open-source framework tailored for efficient multi-contact optimal control. Crocoddyl efficiently computes the state trajectory and the control policy for a given predefined sequence of contacts. Its efficiency is due to the use of sparse analytical derivatives, exploitation of the problem structure, and data sharing. It employs differential geometry to properly describe the state of any geometrical system, e.g. floating-base systems. We have unified dynamics, costs, and constraints into a single concept -- action -- for greater efficiency and easy prototyping. Additionally, we propose a novel multiple-shooting method called Feasibility-prone Differential Dynamic Programming (FDDP). Our novel method shows a greater globalization strategy compared to classical Differential Dynamic Programming (DDP) algorithms, and it has similar numerical behavior to state-of-the-art multiple-shooting methods. However, our method does not increase the computational complexity typically encountered by adding extra variables to describe the gaps in the dynamics. Concretely, we propose two modifications to the classical DDP algorithm. First, the backward pass accepts infeasible state-control trajectories. Second, the rollout keeps the gaps open during the early "exploratory" iterations (as expected in multiple-shooting methods). We showcase the performance of our framework using different tasks. With our method, we can compute highly-dynamic maneuvers for legged robots (e.g. jumping, front-flip) in the order of milliseconds.

Includes members:
  Member "differential dynamic programming for multi phase rigid contact dynamics":
    also connected through other hyperedges:
      - Hyperedge HE-1 (induced by source paper "learning how to walk warm starting optimal control solver with memory of motion")
  Member "whole body nonlinear model predictive control through contacts for quadrupeds":
    also connected through other hyperedges:
      - Hyperedge HE-2 (induced by source paper "guided constrained policy optimization for dynamic quadrupedal robot locomotion")
  Member "simultaneous contact gait and motion planning for robust multi legged locomotion via mixed integer convex optimization":
    also connected through other hyperedges:
      - Hyperedge HE-3 (induced by source paper "whole body walking generation using contact parametrization a non linear trajectory optimization approach")
  Member "motion planning for quadrupedal locomotion coupled planning terrain mapping and whole body control":
    also connected through other hyperedges:
      - Hyperedge HE-4 (induced by source paper "heuristic planning for rough terrain locomotion in presence of external disturbances and variable perception quality")
  Member "a family of iterative gauss newton shooting methods for nonlinear optimal control":
    also connected through other hyperedges:
      - Hyperedge HE-5 (induced by source paper "optimizing dynamic trajectories for robustness to disturbances using polytopic projections")
  Member "an efficient optimal planning and control framework for quadrupedal locomotion":
    also connected through other hyperedges:
      - Hyperedge HE-6 (induced by source paper "mpc net a first principles guided policy search")
  Member "trajectory optimization through contacts and automatic gait discovery for quadrupeds":
    also connected through other hyperedges:
      - Hyperedge HE-7 (induced by source paper "learning how to walk warm starting optimal control solver with memory of motion")
  Member "balancing experiments on a torque controlled humanoid with hierarchical inverse dynamics":
    also connected through other hyperedges:
      - Hyperedge HE-8 (induced by source paper "online dynamic motion planning and control for wheeled biped robots")

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)