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- W2883172488 abstract "Decades of research in control theory have shown that simple controllers, when provided with timely feedback, can control complex systems. Pushing is an example of a complex mechanical system that is difficult to model accurately due to unknown system parameters such as coefficients of friction and pressure distributions. In this paper, we explore the data-complexity required for controlling, rather than modeling, such a system. Results show that a model-based control approach, where the dynamical model is learned from data, is capable of performing complex pushing trajectories with a minimal amount of training data (10 data points). The dynamics of pushing interactions are modeled using a Gaussian process (GP) and are leveraged within a model predictive control approach that linearizes the GP and imposes actuator and task constraints for a planar manipulation task." @default.
- W2883172488 created "2018-08-03" @default.
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- W2883172488 date "2018-07-26" @default.
- W2883172488 modified "2023-10-18" @default.
- W2883172488 title "A Data-Efficient Approach to Precise and Controlled Pushing" @default.
- W2883172488 hasPublicationYear "2018" @default.
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