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 "whole body walking generation using contact parametrization a non linear trajectory optimization approach"):
  Abstract: In this paper, we describe a planner capable of generating walking trajectories by using the centroidal dynamics and the full kinematics of a humanoid robot model. The interaction between the robot and the walking surface is modeled explicitly through a novel contact parametrization. The approach is complementarity-free and does not need a predefined contact sequence. By solving an optimal control problem we obtain walking trajectories. In particular, through a set of constraints and dynamic equations, we model the robot in contact with the ground. We describe the objective the robot needs to achieve with a set of tasks. The whole optimal control problem is transcribed into an optimization problem via a Direct Multiple Shooting approach and solved with an off-the-shelf solver. We show that it is possible to achieve walking motions automatically by specifying a minimal set of references, such as a constant desired Center of Mass velocity and a reference point on the ground.

Includes members:
  Member "a control architecture with online predictive planning for position and torque controlled walking of humanoid robots":
    also connected through other hyperedges:
      - Hyperedge HE-1 (induced by source paper "jerk control of floating base systems with contact stable parametrised force feedback")
  Member "a benchmarking of dcm based architectures for position and velocity controlled walking of humanoid robots":
    also connected through other hyperedges:
      - Hyperedge HE-2 (induced by source paper "online dcm trajectory generation for push recovery of torque controlled humanoid robots")
  Member "whole body nonlinear model predictive control through contacts for quadrupeds":
    also connected through other hyperedges:
      - Hyperedge HE-3 (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-4 (induced by source paper "tactile dexterity manipulation primitives with tactile feedback")
  Member "real time motion planning of legged robots a model predictive control approach":
    also connected through other hyperedges:
      - Hyperedge HE-5 (induced by source paper "whole body control of a mobile manipulator using end to end reinforcement learning")
  Member "straight leg walking through underconstrained whole body control":
    also connected through other hyperedges:
      - Hyperedge HE-6 (induced by source paper "scalable closed form trajectories for periodic and non periodic human like walking")
  Member "a receding horizon push recovery strategy for balancing the icub humanoid robot":
    also connected through other hyperedges:
      (none)
  Member "when to make a step tackling the timing problem in multi contact locomotion by topp mpc":
    also connected through other hyperedges:
      - Hyperedge HE-7 (induced by source paper "feasible region an actuation aware extension of the support region")

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)