As the absent co-organizer of last year’s meeting, it was a pleasure to attend Dynamic Walking (DW) this year – doubly so since it was at such an outrageously beautiful location!

I presented recent work on the question “why (or, more specifically, when) do feedforward inputs yield stable behaviors?” via a combination slideshow / “chalk talk” on our recent contraction theory results for hybrid systems, while my PhD student Bora Banjanin presented on our results about nonsmooth optimal value and policy functions in contact-rich dynamics.