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 nonlinear model predictive control through contacts for quadrupeds"):
  Abstract: In this letter, we present a whole-body nonlinear model predictive control approach for rigid body systems subject to contacts. We use a full-dynamic system model which also includes explicit contact dynamics. Therefore, contact locations, sequences, and timings are not prespecified but optimized by the solver. Yet, using numerical and software engineering allows for running the nonlinear Optimal Control solver at rates up to 190 Hz on a quadruped for a time horizon of half a second. This outperforms the state-of-the-art by at least one order of magnitude. Hardware experiments in the form of periodic and nonperiodic tasks are applied to two quadrupeds with different actuation systems. The obtained results underline the performance, transferability, and robustness of the approach.

Includes members:
  Member "the control toolbox an open source c library for robotics optimal and model predictive control":
    also connected through other hyperedges:
      - Hyperedge HE-1 (induced by source paper "nonlinear mpc with motor failure identification and recovery for safe and aggressive multicopter flight")
  Member "a family of iterative gauss newton shooting methods for nonlinear optimal control":
    also connected through other hyperedges:
      - Hyperedge HE-2 (induced by source paper "optimizing dynamic trajectories for robustness to disturbances using polytopic projections")
  Member "an efficient optimal planning and control framework for quadrupedal locomotion":
    also connected through other hyperedges:
      - Hyperedge HE-3 (induced by source paper "mpc net a first principles guided policy search")
  Member "automatic differentiation of rigid body dynamics for optimal control and estimation":
    also connected through other hyperedges:
      - Hyperedge HE-4 (induced by source paper "automatic differentiation and continuous sensitivity analysis of rigid body dynamics")
  Member "trajectory optimization through contacts and automatic gait discovery for quadrupeds":
    also connected through other hyperedges:
      - Hyperedge HE-5 (induced by source paper "learning how to walk warm starting optimal control solver with memory of motion")
  Member "hierarchical planning of dynamic movements without scheduled contact sequences":
    also connected through other hyperedges:
      - Hyperedge HE-6 (induced by source paper "contact planning for the anymal quadruped robot using an acyclic reachability based planner")
  Member "projection based whole body motion planning for legged robots":
    also connected through other hyperedges:
      - Hyperedge HE-7 (induced by source paper "an efficient optimal planning and control framework for quadrupedal locomotion")
  Member "planning and execution of dynamic whole body locomotion for a hydraulic quadruped on challenging terrain":
    also connected through other hyperedges:
      - Hyperedge HE-8 (induced by source paper "learning how to walk warm starting optimal control solver with memory 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)