A framework merges diffusion-based motion priors with force-feedback MPC to enable reliable tool insertion, force tracking, and collision-free circular motions in robotic deburring.
Non-prehensile object transportation via model predictive non-sliding manipulation control,
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Learning-Guided Force-Feedback Model Predictive Control with Obstacle Avoidance for Robotic Deburring
A framework merges diffusion-based motion priors with force-feedback MPC to enable reliable tool insertion, force tracking, and collision-free circular motions in robotic deburring.