Tube Diffusion Policy learns observation-conditioned feedback flows around nominal action chunks to enable fast reactive control in visual-tactile contact-rich manipulation.
Robust model predictive control using tubes.Automatica, 40(1):125–133, 2004
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GPU-SLS computes safe robust nonlinear MPC policies online in ~20 ms for up to 75D systems by reachability-constrained system level synthesis accelerated via custom GPU QP solvers.
citing papers explorer
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Tube Diffusion Policy: Reactive Visual-Tactile Policy Learning for Contact-rich Manipulation
Tube Diffusion Policy learns observation-conditioned feedback flows around nominal action chunks to enable fast reactive control in visual-tactile contact-rich manipulation.
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Safe Large-Scale Robust Nonlinear MPC in Milliseconds via Reachability-Constrained System Level Synthesis on the GPU
GPU-SLS computes safe robust nonlinear MPC policies online in ~20 ms for up to 75D systems by reachability-constrained system level synthesis accelerated via custom GPU QP solvers.