Hierarchical object-informed MPPI control raises success rates in obstacle-avoiding object pushing by 40% in simulation and 20% on hardware compared to standard MPPI.
An on- line learning approach to model predictive control,
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Object-Informed Model Predictive Path Integral Control for Non-Prehensile Robot Manipulation
Hierarchical object-informed MPPI control raises success rates in obstacle-avoiding object pushing by 40% in simulation and 20% on hardware compared to standard MPPI.