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 "a convex model of momentum dynamics for multi contact motion generation"):
  Abstract: Linear models for control and motion generation of humanoid robots have received significant attention in the past years, not only due to their well known theoretical guarantees, but also because of practical computational advantages. However, to tackle more challenging tasks and scenarios such as locomotion on uneven terrain, a more expressive model is required. In this paper, we are interested in contact interaction-centered motion optimization based on the momentum dynamics model. This model is non-linear and non-convex; however, we find a relaxation of the problem that allows us to formulate it as a single convex quadratically-constrained quadratic program (QCQP) that can be very efficiently optimized. Furthermore, experimental results suggest that this relaxation is tight and therefore useful for multi-contact planning. This convex model is then coupled to the optimization of end-effector contacts location using a mixed integer program, which can be solved in realtime. This becomes relevant e.g. to recover from external pushes, where a predefined stepping plan is likely to fail and an online adaptation of the contact location is needed. The performance of our algorithm is demonstrated in several multi-contact scenarios for humanoid robot.

Includes members:
  Member "momentum control with hierarchical inverse dynamics on a torque controlled humanoid":
    also connected through other hyperedges:
      - Hyperedge HE-1 (induced by source paper "multi agent manipulation via locomotion using hierarchical sim2real")
  Member "structured contact force optimization for kino dynamic motion generation":
    also connected through other hyperedges:
      - Hyperedge HE-2 (induced by source paper "accelerated admm based trajectory optimization for legged locomotion with coupled rigid body dynamics")
  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-3 (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-4 (induced by source paper "whole body walking generation using contact parametrization a non linear trajectory optimization approach")

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)