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Short Bio

I received both a bachelor’s and a master’s degree in Mathematics from the Technical University of Munich, Germany, in 2019 and 2022, respectively. Since 2022, I have been an industrial PhD student associated with both Siemens and the Systems Control and Optimization Laboratory at the University of Freiburg, Germany. My research focuses on numerical optimal control methods for contact-rich systems. Specifically, I am interested in developing differentiable collision detection and physics simulation methods suited for use in trajectory optimization solvers. One particular area of application is industrial assembly planning.

Current Projects

• Exact differentiable collision detection via dedicated interior point methods
• Enhacement of model-based assembly motions by residual reinforcement learning

Preprints

• Robust Rigid Body Assembly via Contact-Implicit Optimal Control with Exact Second-Order Derivatives - Christian Dietz, Sebastian Albrecht, Gianluca Frison, Moritz Diehl, Armin Nurkanović