Global-MPPI integrates kernel SOS global search with MPPI local refinement and graduated non-convexity smoothing to achieve faster convergence and lower costs on high-dimensional contact-rich manipulation tasks.
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Global Sampling-Based Trajectory Optimization for Contact-Rich Manipulation via KernelSOS
Global-MPPI integrates kernel SOS global search with MPPI local refinement and graduated non-convexity smoothing to achieve faster convergence and lower costs on high-dimensional contact-rich manipulation tasks.