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 whole body model predictive control scheme including external contact forces and com height variations"):
  Abstract: In this paper, we present an approach for generating a variety of whole-body motions for a humanoid robot. We extend the available Model Predictive Control (MPC) approaches for walking on flat terrain to plan for both vertical motion of the Center of Mass (CoM) and external contact forces consistent with a given task. The optimization problem is comprised of three stages, i. e. the CoM vertical motion, joint angles, and contact forces planning. The choice of external contact (e. g. hand contact with the object or environment) among all available locations and the appropriate time to reach and maintain a contact are all computed automatically within the algorithm. The presented algorithm benefits from the simplicity of the Linear Inverted Pendulum Model (LIPM), while it overcomes the common limitations of this model and enables us to generate a variety of whole-body motions through external contacts. Simulation and experimental implementation of several whole-body actions in multi-contact scenarios on a humanoid robot show the capability of the proposed algorithm.

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 "a mpc walking framework with external contact forces":
    also connected through other hyperedges:
      - Hyperedge HE-2 (induced by source paper "learning generalizable locomotion skills with hierarchical reinforcement learning")
  Member "pattern generation for walking on slippery terrains":
    also connected through other hyperedges:
      - Hyperedge HE-3 (induced by source paper "robust humanoid locomotion using trajectory optimization and sample efficient learning")
  Member "a robust walking controller based on online step location and duration optimization for bipedal locomotion":
    also connected through other hyperedges:
      - Hyperedge HE-4 (induced by source paper "a reactive and efficient walking pattern generator for robust bipedal locomotion")
  Member "stepping stabilization using a combination of dcm tracking and step adjustment":
    also connected through other hyperedges:
      - Hyperedge HE-5 (induced by source paper "a robust biped locomotion based on linear quadratic gaussian controller and divergent component of motion")

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)