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 "on time optimisation of centroidal momentum dynamics"):
  Abstract: Recently, the centroidal momentum dynamics has received substantial attention to plan dynamically consistent motions for robots with arms and legs in multi-contact scenarios. However, it is also non convex which renders any optimization approach difficult and timing is usually kept fixed in most trajectory optimization techniques to not introduce additional non convexities to the problem. But this can limit the versatility of the algorithms. In our previous work, we proposed a convex relaxation of the problem that allowed to efficiently compute momentum trajectories and contact forces. However, our approach could not minimize a desired angular momentum objective which seriously limited its applicability. Noticing that the non-convexity introduced by the time variables is of similar nature as the centroidal dynamics one, we propose two convex relaxations to the problem based on trust regions and soft constraints. The resulting approaches can compute time-optimized dynamically consistent trajectories sufficiently fast to make the approach realtime capable. The performance of the algorithm is demonstrated in several multi-contact scenarios for a humanoid robot. In particular, we show that the proposed convex relaxation of the original problem finds solutions that are consistent with the original non-convex problem and illustrate how timing optimization allows to find motion plans that would be difficult to plan with fixed timing.

Includes members:
  Member "simultaneous contact gait and motion planning for robust multi legged locomotion via mixed integer convex optimization":
    also connected through other hyperedges:
      - Hyperedge HE-1 (induced by source paper "whole body walking generation using contact parametrization a non linear trajectory optimization approach")
  Member "an efficient optimal planning and control framework for quadrupedal locomotion":
    also connected through other hyperedges:
      - Hyperedge HE-2 (induced by source paper "mpc net a first principles guided policy search")
  Member "when to make a step tackling the timing problem in multi contact locomotion by topp mpc":
    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 "momentum control with hierarchical inverse dynamics on a torque controlled humanoid":
    also connected through other hyperedges:
      - Hyperedge HE-4 (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-5 (induced by source paper "accelerated admm based trajectory optimization for legged locomotion with coupled rigid body dynamics")
  Member "multi contact walking pattern generation based on model preview control of 3d com accelerations":
    also connected through other hyperedges:
      - Hyperedge HE-6 (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-7 (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-8 (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)