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: "balancing experiments on a torque controlled humanoid with hierarchical inverse dynamics"
  Abstract: Recently several hierarchical inverse dynamics controllers based on cascades of quadratic programs have been proposed for application on torque controlled robots. They have important theoretical benefits but have never been implemented on a torque controlled robot where model inaccuracies and real-time computation requirements can be problematic. In this contribution we present an experimental evaluation of these algorithms in the context of balance control for a humanoid robot. The presented experiments demonstrate the applicability of the approach under real robot conditions (i.e. model uncertainty, estimation errors, etc). We propose a simplification of the optimization problem that allows us to decrease computation time enough to implement it in a fast torque control loop. We implement a momentum-based balance controller which shows robust performance in face of unknown disturbances, even when the robot is standing on only one foot. In a second experiment, a tracking task is evaluated to demonstrate the performance of the controller with more complicated hierarchies. Our results show that hierarchical inverse dynamics controllers can be used for feedback control of humanoid robots and that momentum-based balance control can be efficiently implemented on a real robot.

Connected through hyperedge HE-1 (induced by source paper "online dynamic motion planning and control for wheeled biped robots"):
  with members:
    - "rolling in the deep hybrid locomotion for wheeled legged robots using online trajectory optimization"
    - "hierarchical optimization for whole body control of wheeled inverted pendulum humanoids"
    - "keep rollin whole body motion control and planning for wheeled quadrupedal robots"

Connected through hyperedge HE-2 (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-3 (induced by source paper "crocoddyl an efficient and versatile framework for multi contact optimal control"):
  with members:
    - "differential dynamic programming for multi phase rigid contact dynamics"
    - "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"
    - "motion planning for quadrupedal locomotion coupled planning terrain mapping and whole body control"
    - "a family of iterative gauss newton shooting methods for nonlinear optimal control"
    - "an efficient optimal planning and control framework for quadrupedal locomotion"
    - "trajectory optimization through contacts and automatic gait discovery for quadrupeds"

Connected through hyperedge HE-4 (induced by source paper "whole body geometric retargeting for humanoid robots"):
  with members:
    - "telexistence and teleoperation for walking humanoid robots"
    - "deepmimic example guided deep reinforcement learning of physics based character skills"
    - "a benchmarking of dcm based architectures for position and velocity controlled walking of humanoid robots"

Connected through hyperedge HE-5 (induced by source paper "formal connections between template and anchor models via approximate simulation"):
  with members:
    - "multi contact walking pattern generation based on model preview control of 3d com accelerations"
    - "stability of surface contacts for humanoid robots closed form formulae of the contact wrench cone for rectangular support areas"

Connected through hyperedge HE-6 (induced by source paper "online balanced motion generation for humanoid robots"):
  with members:
    - "fused angles a representation of body orientation for balance"
    - "child sized 3d printed igus humanoid open platform"
    - "prioritized optimal control"

Connected through hyperedge HE-7 (induced by source paper "exploiting friction in torque controlled humanoid robots"):
  with members:
    - "automatic gain tuning of a momentum based balancing controller for humanoid robots"

Connected through hyperedge HE-8 (induced by source paper "modeling and control of humanoid robots in dynamic environments icub balancing on a seesaw"):
  with members:
    - "automatic gain tuning of a momentum based balancing controller for humanoid robots"

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)