arXiv Robotics — research abstracts· Magnus Dierking, Jo\~ao Carvalho, Vince Kurtz, Jan Peters, Nils Dengler, Georgia Chalvatzaki·· 7 hours agoEditorial score28
Compute Budget Allocation for Real-World Sampling-Based MPC in Contact-Rich Manipulation
Do My Samples Help? Compute Budget Allocation for Real-World Sampling-Based MPC in Contact-Rich Manipulation
Summary
This study explores how to allocate compute budgets for SMPC in contact-rich manipulation. Using BAMPC, it finds that optimal allocation depends on dominant sim-to-real errors, with dynamics randomization not always most effective.
Source: arXiv Robotics — research abstracts · Read original article ↗
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Source：arXiv Robotics — research abstracts · arxiv.org