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LeTac-MPC: Learning Model Predictive Control for Tactile-reactive Grasping

arXiv | Summary Video

Accepted by IEEE T-RO.

LeTac-MPC training

$ python scripts/training.py

Model-based controllers

For model-based controllers, see model_based_pd.py and model_based_mpc.py.

Dataset

See LeTac-MPC/dataset.

BibTex

If you find this codebase useful, consider citing:

@ARTICLE{xuletac2024,
  author={Xu, Zhengtong and She, Yu},
  journal={IEEE Transactions on Robotics}, 
  title={{LeTac-MPC}: Learning Model Predictive Control for Tactile-Reactive Grasping}, 
  year={2024},
  volume={},
  number={},
  doi={10.1109/TRO.2024.3463470}}