MPC with Sensor-Based Online Cost Adaptation
Avadesh Meduri,Huaijiang Zhu,Armand Jordana,Ludovic Righetti,Avadesh Meduri,Huaijiang Zhu,Armand Jordana,Ludovic Righetti
Model predictive control is a powerful tool to generate complex motions for robots. However, it often requires solving non-convex problems online to produce rich behaviors, which is computationally expensive and not always practical in real time. Additionally, direct integration of high dimensional sensor data (e.g. RGB-D images) in the feedback loop is challenging with current state-space methods...
