Closed-Loop Object-Informed Control for Non-Prehensile Robot Manipulation

arXiv:2605.30778 · cs.RO · Submitted 2026-05-29 · Read on arXiv

cs.RO

Submitted: 2026-05-29

Updated: 2026-09-22

Terminology

• Model Predictive Path Integral (MPPI) — 3× in this paper · explained in 3 episodes
• Robustness — 3× in this paper · explained in 5 episodes
• 6D Object Pose Estimation — 1× in this paper · explained in 1 episode
• Abstraction — 1× in this paper · explained in 1 episode
• Action Space — 1× in this paper · explained in 1 episode
• Fidelity — 1× in this paper · explained in 2 episodes
• Model Predictive Control (MPC) — 1× in this paper · explained in 5 episodes
• Sample Efficiency — 1× in this paper · explained in 4 episodes
• Trace — 1× in this paper · explained in 2 episodes

Sources

• An Online Learning Approach to Model Predictive Control
• SAM-6D: Segment Anything Model Meets Zero-Shot 6D Object Pose Estimation

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