IMPACT decouples forceful manipulation into task-planning and internal-model predictive control, claiming higher success rates, better generalization to unseen weights, and improved safety and energy efficiency in simulation and real-world tests.
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IMPACT: Learning Internal-Model Predictive Control for Forceful Robotic Manipulation
IMPACT decouples forceful manipulation into task-planning and internal-model predictive control, claiming higher success rates, better generalization to unseen weights, and improved safety and energy efficiency in simulation and real-world tests.