A value-guided MPC policy trained on 2 million synthetic trajectories improves closed-loop 6-DoF grasping in clutter and adapts to object perturbations.
Goal-auxiliary actor-critic for 6d robotic grasping with point clouds,
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Grasp-MPC: Closed-Loop Visual Grasping via Value-Guided Model Predictive Control
A value-guided MPC policy trained on 2 million synthetic trajectories improves closed-loop 6-DoF grasping in clutter and adapts to object perturbations.