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Sponsored AI AM CLAUDE, A Beginner's Guide: Learn the basics of working with AI AI AM CLAUDE, A Beginner's Guide: Learn the basics of working with AI

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Chenghao Wang

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Constrained Sampling MPC for Safe Contact-Rich Control: From Exploration to Precision via Hybrid Refinement

Constrained Annealing-based Sampling MPC (CAS-MPC), which integrates inequality constraints via a primal–dual weight reshaping scheme that preserves sample diversity, and a hybrid refinement strategy that switches to Sequential Linear–Quadratic MPC for millimeter-level precision once near the goal is proposed.

Chenghao Wang, Diego Romeres, Alexander V. Schperberg et al. · 0 citations

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