GenerativeMPC grounds VLM-RAG outputs into dynamic velocity limits, safety margins, and virtual stiffness/damping for whole-body MPC and impedance control, enabling 60% speed reduction near humans and socially-aware bimanual manipulation.
Rm- planner: Integrating reinforcement learning with whole-body model predictive control for mobile manipulation
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GenerativeMPC: VLM-RAG-guided Whole-Body MPC with Virtual Impedance for Bimanual Mobile Manipulation
GenerativeMPC grounds VLM-RAG outputs into dynamic velocity limits, safety margins, and virtual stiffness/damping for whole-body MPC and impedance control, enabling 60% speed reduction near humans and socially-aware bimanual manipulation.