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.
Bundled gradients through contact via randomized smoothing,
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Global-MPPI integrates kernel SOS global search with MPPI local refinement and graduated non-convexity smoothing to achieve faster convergence and lower costs on high-dimensional contact-rich manipulation tasks.
GATO is a new batched GPU trajectory optimization solver that achieves real-time MPC throughput with 18-21x speedups over CPU baselines for tens to low-hundreds of simultaneous solves.
Introduces boundary-focused rollouts to screen the smoothing parameter κ and augments a discrete-time CBF with a fixed robust margin to eliminate contact force violations in smoothed implicit dynamics simulations.
citing papers explorer
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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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Global Sampling-Based Trajectory Optimization for Contact-Rich Manipulation via KernelSOS
Global-MPPI integrates kernel SOS global search with MPPI local refinement and graduated non-convexity smoothing to achieve faster convergence and lower costs on high-dimensional contact-rich manipulation tasks.
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GATO: GPU-Accelerated and Batched Trajectory Optimization for Scalable Edge Model Predictive Control
GATO is a new batched GPU trajectory optimization solver that achieves real-time MPC throughput with 18-21x speedups over CPU baselines for tens to low-hundreds of simultaneous solves.
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Safety-Critical Control for Smoothed Implicit Contact Dynamics
Introduces boundary-focused rollouts to screen the smoothing parameter κ and augments a discrete-time CBF with a fixed robust margin to eliminate contact force violations in smoothed implicit dynamics simulations.