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cs.RO2024
LeTac-MPC: Learning Model Predictive Control for Tactile-reactive Grasping
Zhengtong Xu, Yu She
Grasping is a crucial task in robotics, necessitating tactile feedback and reactive grasping adjustments for robust grasping of objects under various conditions and with differing…
cs.RO2024
LeTO: Learning Constrained Visuomotor Policy with Differentiable Trajectory Optimization
Zhengtong Xu, Yu She
This paper introduces LeTO, a method for learning constrained visuomotor policy with differentiable trajectory optimization. Our approach integrates a differentiable optimization l…