human: Given a node-centered hypergraph: <hypergraph>, where nodes represent papers and hyperedges represent sets of papers co-cited by a source paper.

Details of the hypergraph:
Center node: "real time motion planning of legged robots a model predictive control approach"
  Abstract: We introduce a real-time, constrained, nonlinear Model Predictive Control for the motion planning of legged robots. The proposed approach uses a constrained optimal control algorithm known as SLQ. We improve the efficiency of this algorithm by introducing a multi-processing scheme for estimating value function in its backward pass. This pass has been often calculated as a single process. This parallel SLQ algorithm can optimize longer time horizons without proportional increase in its computation time. Thus, our MPC algorithm can generate optimized trajectories for the next few phases of the motion within only a few milliseconds. This outperforms the state of the art by at least one order of magnitude. The performance of the approach is validated on a quadruped robot for generating dynamic gaits such as trotting.

Connected through hyperedge HE-1 (induced by source paper "whole body control of a mobile manipulator using end to end reinforcement learning"):
  with members:
    - "solving rubik s cube with a robot hand"
    - "object finding in cluttered scenes using interactive perception"
    - "deep value model predictive control"
    - "whole body mpc for a dynamically stable mobile manipulator"
    - "maplab an open framework for research in visual inertial mapping and localization"
    - "sim to real learning agile locomotion for quadruped robots"
    - "benchmarking reinforcement learning algorithms on real world robots"
    - "nonlinear model predictive guidance for fixed wing uavs using identified control augmented dynamics"

Connected through hyperedge HE-2 (induced by source paper "whole body walking generation using contact parametrization a non linear trajectory optimization approach"):
  with members:
    - "a control architecture with online predictive planning for position and torque controlled walking of humanoid robots"
    - "a benchmarking of dcm based architectures for position and velocity controlled walking of humanoid robots"
    - "whole body nonlinear model predictive control through contacts for quadrupeds"
    - "simultaneous contact gait and motion planning for robust multi legged locomotion via mixed integer convex optimization"
    - "straight leg walking through underconstrained whole body control"
    - "a receding horizon push recovery strategy for balancing the icub humanoid robot"
    - "when to make a step tackling the timing problem in multi contact locomotion by topp mpc"
    - "trajectory generation for multi contact momentum control"

Connected through hyperedge HE-3 (induced by source paper "mpc net a first principles guided policy search"):
  with members:
    - "feedback mpc for torque controlled legged robots"
    - "data efficient reinforcement learning for legged robots"
    - "iterative reinforcement learning based design of dynamic locomotion skills for cassie"
    - "on the convergence of adam and beyond"
    - "learning agile and dynamic motor skills for legged robots"
    - "policies modulating trajectory generators"
    - "an algorithmic perspective on imitation learning"
    - "sim to real learning agile locomotion for quadruped robots"

Connected through hyperedge HE-4 (induced by source paper "whole body mpc for a dynamically stable mobile manipulator"):
  with members:
    - "feedback mpc for torque controlled legged robots"
    - "frequency aware model predictive control"
    - "hierarchical optimization for whole body control of wheeled inverted pendulum humanoids"
    - "a whole body model predictive control scheme including external contact forces and com height variations"
    - "a mpc walking framework with external contact forces"
    - "an efficient optimal planning and control framework for quadrupedal locomotion"
    - "automatic differentiation of rigid body dynamics for optimal control and estimation"

Connected through hyperedge HE-5 (induced by source paper "deep value model predictive control"):
  with members:
    - "whole body mpc for a dynamically stable mobile manipulator"
    - "learning agile and dynamic motor skills for legged robots"
    - "temporal difference models model free deep rl for model based control"
    - "an efficient optimal planning and control framework for quadrupedal locomotion"
    - "adaptive importance sampling for control and inference"
    - "a reduction of imitation learning and structured prediction to no regret online learning"

Connected through hyperedge HE-6 (induced by source paper "feedback mpc for torque controlled legged robots"):
  with members:
    - "sensitivity of legged balance control to uncertainties and sampling period"
    - "frequency aware model predictive control"
    - "an efficient optimal planning and control framework for quadrupedal locomotion"
    - "robot impedance control and passivity analysis with inner torque and velocity feedback loops"
    - "balancing and walking using full dynamics lqr control with contact constraints"

Connected through hyperedge HE-7 (induced by source paper "on the hardware feasibility of nonlinear trajectory optimization for legged locomotion based on a simplified dynamics"):
  with members:
    - "feasible region an actuation aware extension of the support region"
    - "efficient humanoid contact planning using learned centroidal dynamics prediction"
    - "application of wrench based feasibility analysis to the online trajectory optimization of legged robots"
    - "passive whole body control for quadruped robots experimental validation over challenging terrain"
    - "structured contact force optimization for kino dynamic motion generation"

Connected through hyperedge HE-8 (induced by source paper "frequency aware model predictive control"):
  with members:
    - "exploiting the natural dynamics of series elastic robots by actuator centered sequential linear programming"
    - "an efficient optimal planning and control framework for quadrupedal locomotion"
    - "trajectory optimization through contacts and automatic gait discovery for quadrupeds"

Question: Please tell me which class the center node 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)