Predictive Models for Visuomotor Feedback Control in Object Pile Manipulation
What is the “state” of a pile of objects? Collections of standard Lagrangian states ideally describe a pile, but it is impractical to estimate Lagrangian states directly from images to use for visuomotor feedback control. Given this burden of state estimation, is there a practical alternative repres...
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| Format: | Thesis |
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Massachusetts Institute of Technology
2022
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| Online Access: | https://hdl.handle.net/1721.1/143378 |