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 "when to make a step tackling the timing problem in multi contact locomotion by topp mpc"):
  Abstract: We present a model predictive controller (MPC) for multi-contact locomotion where predictive optimizations are realized by time-optimal path parameterization (TOPP). A key feature of this solution is that, contrary to existing planners where step timings are provided as inputs, here the timing between contact switches is computed as output of a fast nonlinear optimization. This is particularly appealing to multi-contact locomotion, where proper timings depend on terrain topology and suitable heuristics are unknown. We show how to formulate legged locomotion as a TOPP problem and demonstrate the behavior of the resulting TOPP-MPC controller in simulations with a model of the HRP-4 humanoid robot.

Includes members:
  Member "walking stabilization using step timing and location adjustment on the humanoid robot atlas":
    also connected through other hyperedges:
      - Hyperedge HE-1 (induced by source paper "robust humanoid contact planning with learned zero and one step capturability prediction")
  Member "on the structure of the time optimal path parameterization problem with third order constraints":
    also connected through other hyperedges:
      - Hyperedge HE-2 (induced by source paper "a new approach to time optimal path parameterization based on reachability analysis")
  Member "step timing adjustment a step toward generating robust gaits":
    also connected through other hyperedges:
      - Hyperedge HE-3 (induced by source paper "robust humanoid contact planning with learned zero and one step capturability prediction")
  Member "multi contact walking pattern generation based on model preview control of 3d com accelerations":
    also connected through other hyperedges:
      - Hyperedge HE-4 (induced by source paper "biped stabilization by linear feedback of the variable height inverted pendulum model")
  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 "highly dynamic quadruped locomotion via whole body impulse control and model predictive control")
  Member "trajectory generation for multi contact momentum control":
    also connected through other hyperedges:
      - Hyperedge HE-6 (induced by source paper "whole body walking generation using contact parametrization a non linear trajectory optimization approach")
  Member "zmp support areas for multi contact mobility under frictional constraints":
    also connected through other hyperedges:
      - Hyperedge HE-7 (induced by source paper "biped stabilization by linear feedback of the variable height inverted pendulum model")
  Member "a general fast and robust implementation of the time optimal path parameterization algorithm":
    also connected through other hyperedges:
      - Hyperedge HE-8 (induced by source paper "gomp grasp optimized motion planning for bin picking")

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)