A hybrid controller samples low-dimensional end-effector targets for a contact-free stage then runs local complementarity MPC at each sample to approximate global contact-implicit optimization.
Foundationpose: Unified 6d pose estimation and tracking of novel objects,
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Approximating Global Contact-Implicit MPC via Sampling and Local Complementarity
A hybrid controller samples low-dimensional end-effector targets for a contact-free stage then runs local complementarity MPC at each sample to approximate global contact-implicit optimization.