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Multi-segment Soft Robot Control via Deep Koopman-based Model Predictive Control
Lei Lv, Lei Liu, Lei Bao +7
Soft robots, compared to regular rigid robots, as their multiple segments with soft materials bring flexibility and compliance, have the advantages of safe interaction and dexterou…
RoboGolf: Mastering Real-World Minigolf with a Reflective Multi-Modality Vision-Language Model
Hantao Zhou, Tianying Ji, Lukas Sommerhalder +5
Minigolf is an exemplary real-world game for examining embodied intelligence, requiring challenging spatial and kinodynamic understanding to putt the ball. Additionally, reflective…
What Foundation Models can Bring for Robot Learning in Manipulation : A Survey
Dingzhe Li, Yixiang Jin, Yuhao Sun +11
The realization of universal robots is an ultimate goal of researchers. However, a key hurdle in achieving this goal lies in the robots' ability to manipulate objects in their unst…
Smooth Computation without Input Delay: Robust Tube-Based Model Predictive Control for Robot Manipulator Planning
Yu Luo, Qie Sima, Tianying Ji +3
Model Predictive Control (MPC) has exhibited remarkable capabilities in optimizing objectives and meeting constraints. However, the substantial computational burden associated with…