2 papers
cs.RO2024
Parallel and Proximal Constrained Linear-Quadratic Methods for Real-Time Nonlinear MPC
Wilson Jallet, Ewen Dantec, Etienne Arlaud +2
Recent strides in nonlinear model predictive control (NMPC) underscore a dependence on numerical advancements to efficiently and accurately solve large-scale problems. Given the su…
cs.RO2023
Robust Visual Sim-to-Real Transfer for Robotic Manipulation
Ricardo Garcia, Robin Strudel, Shizhe Chen +3
Learning visuomotor policies in simulation is much safer and cheaper than in the real world. However, due to discrepancies between the simulated and real data, simulator-trained po…