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- W4310632022 abstract "We introduce MuJoCo MPC (MJPC), an open-source, interactive application and software framework for real-time predictive control, based on MuJoCo physics. MJPC allows the user to easily author and solve complex robotics tasks, and currently supports three shooting-based planners: derivative-based iLQG and Gradient Descent, and a simple derivative-free method we call Predictive Sampling. Predictive Sampling was designed as an elementary baseline, mostly for its pedagogical value, but turned out to be surprisingly competitive with the more established algorithms. This work does not present algorithmic advances, and instead, prioritises performant algorithms, simple code, and accessibility of model-based methods via intuitive and interactive software. MJPC is available at: github.com/deepmind/mujoco_mpc, a video summary can be viewed at: dpmd.ai/mjpc." @default.
- W4310632022 created "2022-12-13" @default.
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- W4310632022 date "2022-12-01" @default.
- W4310632022 modified "2023-09-26" @default.
- W4310632022 title "Predictive Sampling: Real-time Behaviour Synthesis with MuJoCo" @default.
- W4310632022 doi "https://doi.org/10.48550/arxiv.2212.00541" @default.
- W4310632022 hasPublicationYear "2022" @default.
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