@inproceedings{chang2017learning, title={Learning to jump in granular media: Unifying optimal control synthesis with Gaussian process-based regression}, author={Chang, Alexander H and Hubicki, Christian M and Aguilar, Jeff J and Goldman, Daniel I and Ames, Aaron D and Vela, Patricio A}, booktitle={Robotics and Automation (ICRA), 2017 IEEE International Conference on}, pages={2154--2160}, year={2017}, organization={IEEE}, url ={http://ames.caltech.edu/chang2017learning.pdf}, keywords = {Robophysics, Machine Learning, Optimization} }