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Compared to standard locomotion task we have an extra 13 states corresponding to the position, orientation and velocities of the box

Box Pushing:We have further extended the locomotion task to a box-pushing task, where the quadruped has to move a box from a starting location to the goal location

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Sampling-Based Control via Entropy-Regularized Optimal Transport

cs.RO · 2026-05-04 · unverdicted · novelty 7.0

OT-MPC computes an optimal coupling between candidate control sequences and low-cost proposals via entropy-regularized optimal transport and the Sinkhorn algorithm to improve sampling-based MPC performance.

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  • Sampling-Based Control via Entropy-Regularized Optimal Transport cs.RO · 2026-05-04 · unverdicted · none · ref 42

    OT-MPC computes an optimal coupling between candidate control sequences and low-cost proposals via entropy-regularized optimal transport and the Sinkhorn algorithm to improve sampling-based MPC performance.