Risk-aware domain randomization in contact-rich sampling-based predictive control reshapes the basin of attraction around contact-producing actions in the optimizer's effective cost landscape.
Robust model predictive path integral control: Analysis and performance guarantees,
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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.
citing papers explorer
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On Surprising Effects of Risk-Aware Domain Randomization for Contact-Rich Sampling-based Predictive Control
Risk-aware domain randomization in contact-rich sampling-based predictive control reshapes the basin of attraction around contact-producing actions in the optimizer's effective cost landscape.
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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.