2 papers
cs.RO2025
Differentiable Material Point Method for the Control of Deformable Objects
Diego Bolliger, Gabriele Fadini, Markus Bambach +1
Controlling the deformation of flexible objects is challenging due to their non-linear dynamics and high-dimensional configuration space. This work presents a differentiable Materi…
cs.RO2025
Bayesian Optimization for Automatic Tuning of Torque-Level Nonlinear Model Predictive Control
Gabriele Fadini, Deepak Ingole, Tong Duy Son +1
This paper presents an auto-tuning framework for torque-based Nonlinear Model Predictive Control (nMPC), where the MPC serves as a real-time controller for optimal joint torque com…