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cs.RO2022
MPC with Sensor-Based Online Cost Adaptation
Avadesh Meduri, Huaijiang Zhu, Armand Jordana +1
Model predictive control is a powerful tool to generate complex motions for robots. However, it often requires solving non-convex problems online to produce rich behaviors, which i…
cs.RO2022
Efficient Object Manipulation Planning with Monte Carlo Tree Search
Huaijiang Zhu, Avadesh Meduri, Ludovic Righetti
This paper presents an efficient approach to object manipulation planning using Monte Carlo Tree Search (MCTS) to find contact sequences and an efficient ADMM-based trajectory opti…