Risk-aware domain randomization in contact-rich sampling-based predictive control reshapes the basin of attraction around contact-producing actions in the optimizer's effective cost landscape.
Shield model predictive path integral: A computationally efficient robust mpc method using control barrier functions
2 Pith papers cite this work. Polarity classification is still indexing.
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cs.RO 2years
2026 2verdicts
UNVERDICTED 2representative citing papers
A VLM-based perceptual module plus MPPI controller lets robots accompany dynamically changing human groups, yielding 15% higher success rate and 25% lower collisions than baselines in five scenarios plus positive user-study ratings for naturalness.
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On Surprising Effects of Risk-Aware Domain Randomization for Contact-Rich Sampling-based Predictive Control
Risk-aware domain randomization in contact-rich sampling-based predictive control reshapes the basin of attraction around contact-producing actions in the optimizer's effective cost landscape.
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Adaptive Companionship for Group-Following Robots: Handling Dynamically Changing Group Formations
A VLM-based perceptual module plus MPPI controller lets robots accompany dynamically changing human groups, yielding 15% higher success rate and 25% lower collisions than baselines in five scenarios plus positive user-study ratings for naturalness.