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cs.RO2023
Efficient Online Learning of Contact Force Models for Connector Insertion
Kevin Tracy, Zachary Manchester, Ajinkya Jain +4
Contact-rich manipulation tasks with stiff frictional elements like connector insertion are difficult to model with rigid-body simulators. In this work, we propose a new approach f…
cs.RO2023
ReLU-QP: A GPU-Accelerated Quadratic Programming Solver for Model-Predictive Control
Arun L. Bishop, John Z. Zhang, Swaminathan Gurumurthy +2
We present ReLU-QP, a GPU-accelerated solver for quadratic programs (QPs) that is capable of solving high-dimensional control problems at real-time rates. ReLU-QP is derived by exa…