Model-Based Adaptive Precision Control for Tabletop Planar Pushing Under Uncertain Dynamics

arXiv:2510.03768 · cs.RO · Submitted 2025-10-04 · Read on arXiv

cs.RO

Submitted: 2025-10-04

Updated: 2026-09-16

Terminology

• Generalization — 22× in this paper · explained in 13 episodes
• Ablation — 11× in this paper · explained in 1 episode
• Accuracy — 11× in this paper · explained in 1 episode
• Objective Function — 11× in this paper · explained in 2 episodes
• Robustness — 7× in this paper · explained in 5 episodes
• Sim-to-Real Transfer — 6× in this paper · explained in 2 episodes
• Model Predictive Path Integral — 4× in this paper
• Reinforcement Learning — 4× in this paper · explained in 4 episodes
• Action Space — 3× in this paper · explained in 1 episode
• Fine-Tuning — 3× in this paper · explained in 5 episodes
• Model Predictive Control — 3× in this paper
• Ablation Studies — 2× in this paper · explained in 1 episode
• Adam — 2× in this paper · explained in 2 episodes
• Adaptability — 2× in this paper · explained in 1 episode
• Decoupling — 2× in this paper · explained in 2 episodes
• Gated Recurrent Unit — 2× in this paper
• Generalizability — 2× in this paper · explained in 6 episodes
• Model Predictive Path Integral (MPPI) — 2× in this paper · explained in 3 episodes
• Modularity — 2× in this paper · explained in 9 episodes
• Unified Framework — 2× in this paper · explained in 5 episodes
• APEX — 1× in this paper · explained in 1 episode
• Adaptation — 1× in this paper · explained in 1 episode
• Affordance — 1× in this paper · explained in 1 episode
• Alignment — 1× in this paper · explained in 1 episode
• Benchmarking — 1× in this paper · explained in 4 episodes
• Center of Mass (CoM) — 1× in this paper · explained in 2 episodes
• Consistency — 1× in this paper · explained in 3 episodes
• Few-Shot Learning — 1× in this paper · explained in 4 episodes
• Interpretability — 1× in this paper · explained in 15 episodes
• Model Predictive Control (MPC) — 1× in this paper · explained in 5 episodes
• Reinforcement Learning (RL) — 1× in this paper · explained in 25 episodes
• Sample Efficiency — 1× in this paper · explained in 4 episodes
• System Identification — 1× in this paper · explained in 3 episodes

Sources

• Learning Goal-Directed Object Pushing in Cluttered Scenes With Location-Based Attention
• Adam: A Method for Stochastic Optimization

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