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: "momentum control with hierarchical inverse dynamics on a torque controlled humanoid"
  Abstract: Hierarchical inverse dynamics based on cascades of quadratic programs have been proposed for the control of legged robots. They have important benefits but to the best of our knowledge have never been implemented on a torque controlled humanoid where model inaccuracies, sensor noise and real-time computation requirements can be problematic. Using a reformulation of existing algorithms, we propose a simplification of the problem that allows to achieve real-time control. Momentum-based control is integrated in the task hierarchy and a LQR design approach is used to compute the desired associated closed-loop behavior and improve performance. Extensive experiments on various balancing and tracking tasks show very robust performance in the face of unknown disturbances, even when the humanoid is standing on one foot. Our results demonstrate that hierarchical inverse dynamics together with momentum control can be efficiently used for feedback control under real robot conditions.

Connected through hyperedge HE-1 (induced by source paper "multi agent manipulation via locomotion using hierarchical sim2real"):
  with members:
    - "end to end robotic reinforcement learning without reward engineering"
    - "active domain randomization"
    - "hierarchical reinforcement learning for quadruped locomotion"
    - "bayessim adaptive domain randomization via probabilistic inference for robotics simulators"
    - "near optimal representation learning for hierarchical reinforcement learning"
    - "learning dexterous in hand manipulation"
    - "sim to real reinforcement learning for deformable object manipulation"
    - "sim to real learning agile locomotion for quadruped robots"

Connected through hyperedge HE-2 (induced by source paper "learning hierarchical control for robust in hand manipulation"):
  with members:
    - "dual arm in hand manipulation and regrasping using dexterous manipulation graphs"
    - "residual policy learning"
    - "learning dexterous in hand manipulation"
    - "dexterous manipulation with deep reinforcement learning efficient general and low cost"
    - "residual reinforcement learning for robot control"
    - "geometric in hand regrasp planning alternating optimization of finger gaits and in grasp manipulation"
    - "learning complex dexterous manipulation with deep reinforcement learning and demonstrations"
    - "real time robust finger gaits planning under object shape and dynamics uncertainties"

Connected through hyperedge HE-3 (induced by source paper "stance locomotion adaptation over soft terrain"):
  with members:
    - "heuristic planning for rough terrain locomotion in presence of external disturbances and variable perception quality"
    - "frequency aware model predictive control"
    - "dynamic locomotion for passive ankle biped robots and humanoids using whole body locomotion control"
    - "passive whole body control for quadruped robots experimental validation over challenging terrain"
    - "contact implicit optimization of locomotion trajectories for a quadrupedal microrobot"
    - "whole body nonlinear model predictive control through contacts for quadrupeds"
    - "robust whole body motion control of legged robots"
    - "robot impedance control and passivity analysis with inner torque and velocity feedback loops"

Connected through hyperedge HE-4 (induced by source paper "an open torque controlled modular robot architecture for legged locomotion research"):
  with members:
    - "stanford doggo an open source quasi direct drive quadruped"
    - "quasi direct drive for low cost compliant robotic manipulation"
    - "learning a structured neural network policy for a hopping task"
    - "sim to real learning agile locomotion for quadruped robots"
    - "oncilla robot a versatile open source quadruped research robot with compliant pantograph legs"
    - "cable driven actuation for highly dynamic robotic systems"
    - "structured contact force optimization for kino dynamic motion generation"

Connected through hyperedge HE-5 (induced by source paper "learning variable impedance control for contact sensitive tasks"):
  with members:
    - "variable impedance control in end effector space an action space for reinforcement learning in contact rich tasks"
    - "reinforcement learning on variable impedance controller for high precision robotic assembly"
    - "learning a structured neural network policy for a hopping task"
    - "learning locomotion skills using deeprl does the choice of action space matter"
    - "continuous control with deep reinforcement learning"

Connected through hyperedge HE-6 (induced by source paper "an inverse dynamics approach to control lyapunov functions"):
  with members:
    - "dynamic walking with compliance on a cassie bipedal robot"
    - "an efficiently solvable quadratic program for stabilizing dynamic locomotion"
    - "torque saturation in bipedal robotic walking through control lyapunov function based quadratic programs"

Connected through hyperedge HE-7 (induced by source paper "bounded haptic teleoperation of a quadruped robot s foot posture for sensing and manipulation"):
  with members:
    - "comparing metrics for robustness against external perturbations in dynamic trajectory optimization"
    - "application of wrench based feasibility analysis to the online trajectory optimization of legged robots"

Connected through hyperedge HE-8 (induced by source paper "beyond basins of attraction evaluating robustness of natural dynamics"):
  with members:
    - "walking with confidence safety regulation for full order biped models"
    - "gait learning for soft microrobots controlled by light fields"
    - "learning from outside the viability kernel why we should build robots that can fall with grace"
    - "real time control for autonomous racing based on viability theory"
    - "robust optimal planning and control of non periodic bipedal locomotion with a centroidal momentum model"
    - "bayesian optimization using domain knowledge on the atrias biped"
    - "shaping in practice training wheels to learn fast hopping directly in hardware"
    - "hamilton jacobi reachability a brief overview and recent advances"

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)