{"id":"https://openalex.org/W7124871051","doi":"https://doi.org/10.1109/lra.2026.3655193","title":"Generative Models From and for Sampling-Based MPC: A Bootstrapped Approach for Adaptive Contact-Rich Manipulation","display_name":"Generative Models From and for Sampling-Based MPC: A Bootstrapped Approach for Adaptive Contact-Rich Manipulation","publication_year":2026,"publication_date":"2026-01-19","ids":{"openalex":"https://openalex.org/W7124871051","doi":"https://doi.org/10.1109/lra.2026.3655193"},"language":null,"primary_location":{"id":"doi:10.1109/lra.2026.3655193","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2026.3655193","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5043997712","display_name":"Lara Bruderm\u00fcller","orcid":"https://orcid.org/0000-0001-6217-1399"},"institutions":[{"id":"https://openalex.org/I40120149","display_name":"University of Oxford","ror":"https://ror.org/052gg0110","country_code":"GB","type":"education","lineage":["https://openalex.org/I40120149"]}],"countries":["GB"],"is_corresponding":true,"raw_author_name":"Lara Bruderm\u00fcller","raw_affiliation_strings":["Oxford Robotics Institute, University of Oxford, Oxford, U.K"],"raw_orcid":"https://orcid.org/0000-0001-6217-1399","affiliations":[{"raw_affiliation_string":"Oxford Robotics Institute, University of Oxford, Oxford, U.K","institution_ids":["https://openalex.org/I40120149"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5123385525","display_name":"Brandon Hung","orcid":null},"institutions":[{"id":"https://openalex.org/I4210116723","display_name":"Robotics Research (United States)","ror":"https://ror.org/020w2fr77","country_code":"US","type":"company","lineage":["https://openalex.org/I4210116723"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Brandon Hung","raw_affiliation_strings":["Robotics and AI Institute (RAI), Boston, MA, USA"],"raw_orcid":"https://orcid.org/0009-0004-3585-3115","affiliations":[{"raw_affiliation_string":"Robotics and AI Institute (RAI), Boston, MA, USA","institution_ids":["https://openalex.org/I4210116723"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5123394204","display_name":"Xinghao Zhu","orcid":null},"institutions":[{"id":"https://openalex.org/I4210116723","display_name":"Robotics Research (United States)","ror":"https://ror.org/020w2fr77","country_code":"US","type":"company","lineage":["https://openalex.org/I4210116723"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Xinghao Zhu","raw_affiliation_strings":["Robotics and AI Institute (RAI), Boston, MA, USA"],"raw_orcid":"https://orcid.org/0000-0003-3183-5038","affiliations":[{"raw_affiliation_string":"Robotics and AI Institute (RAI), Boston, MA, USA","institution_ids":["https://openalex.org/I4210116723"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5076469070","display_name":"Jiuguang Wang","orcid":"https://orcid.org/0000-0001-6881-9918"},"institutions":[{"id":"https://openalex.org/I4210116723","display_name":"Robotics Research (United States)","ror":"https://ror.org/020w2fr77","country_code":"US","type":"company","lineage":["https://openalex.org/I4210116723"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jiuguang Wang","raw_affiliation_strings":["Robotics and AI Institute (RAI), Boston, MA, USA"],"raw_orcid":"https://orcid.org/0000-0001-6881-9918","affiliations":[{"raw_affiliation_string":"Robotics and AI Institute (RAI), Boston, MA, USA","institution_ids":["https://openalex.org/I4210116723"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5123050874","display_name":"Nick Hawes","orcid":null},"institutions":[{"id":"https://openalex.org/I40120149","display_name":"University of Oxford","ror":"https://ror.org/052gg0110","country_code":"GB","type":"education","lineage":["https://openalex.org/I40120149"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Nick Hawes","raw_affiliation_strings":["Oxford Robotics Institute, University of Oxford, Oxford, U.K"],"raw_orcid":"https://orcid.org/0000-0002-7556-6098","affiliations":[{"raw_affiliation_string":"Oxford Robotics Institute, University of Oxford, Oxford, U.K","institution_ids":["https://openalex.org/I40120149"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5006569343","display_name":"Preston Culbertson","orcid":"https://orcid.org/0000-0002-1403-8697"},"institutions":[{"id":"https://openalex.org/I4210116723","display_name":"Robotics Research (United States)","ror":"https://ror.org/020w2fr77","country_code":"US","type":"company","lineage":["https://openalex.org/I4210116723"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Preston Culbertson","raw_affiliation_strings":["Robotics and AI Institute (RAI), Boston, MA, USA"],"raw_orcid":"https://orcid.org/0000-0002-1403-8697","affiliations":[{"raw_affiliation_string":"Robotics and AI Institute (RAI), Boston, MA, USA","institution_ids":["https://openalex.org/I4210116723"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5123373874","display_name":"Simon Le Cleac'h","orcid":null},"institutions":[{"id":"https://openalex.org/I4210116723","display_name":"Robotics Research (United States)","ror":"https://ror.org/020w2fr77","country_code":"US","type":"company","lineage":["https://openalex.org/I4210116723"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Simon Le Cleac\u2019h","raw_affiliation_strings":["Robotics and AI Institute (RAI), Boston, MA, USA"],"raw_orcid":"https://orcid.org/0000-0002-7430-8396","affiliations":[{"raw_affiliation_string":"Robotics and AI Institute (RAI), Boston, MA, USA","institution_ids":["https://openalex.org/I4210116723"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5043997712"],"corresponding_institution_ids":["https://openalex.org/I40120149"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.12315195,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"11","issue":"3","first_page":"3478","last_page":"3485"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.38499999046325684,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.38499999046325684,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.14239999651908875,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.09489999711513519,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/bootstrapping","display_name":"Bootstrapping (finance)","score":0.7027999758720398},{"id":"https://openalex.org/keywords/generative-grammar","display_name":"Generative grammar","score":0.5806000232696533},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.5777999758720398},{"id":"https://openalex.org/keywords/generative-model","display_name":"Generative model","score":0.5465999841690063},{"id":"https://openalex.org/keywords/sample","display_name":"Sample (material)","score":0.47920000553131104},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4684000015258789},{"id":"https://openalex.org/keywords/sampling","display_name":"Sampling (signal processing)","score":0.42980000376701355},{"id":"https://openalex.org/keywords/iterative-learning-control","display_name":"Iterative learning control","score":0.3517000079154968}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7263000011444092},{"id":"https://openalex.org/C207609745","wikidata":"https://www.wikidata.org/wiki/Q4944086","display_name":"Bootstrapping (finance)","level":2,"score":0.7027999758720398},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6218000054359436},{"id":"https://openalex.org/C39890363","wikidata":"https://www.wikidata.org/wiki/Q36108","display_name":"Generative grammar","level":2,"score":0.5806000232696533},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.5777999758720398},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.5748999714851379},{"id":"https://openalex.org/C167966045","wikidata":"https://www.wikidata.org/wiki/Q5532625","display_name":"Generative model","level":3,"score":0.5465999841690063},{"id":"https://openalex.org/C198531522","wikidata":"https://www.wikidata.org/wiki/Q485146","display_name":"Sample (material)","level":2,"score":0.47920000553131104},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4684000015258789},{"id":"https://openalex.org/C140779682","wikidata":"https://www.wikidata.org/wiki/Q210868","display_name":"Sampling (signal processing)","level":3,"score":0.42980000376701355},{"id":"https://openalex.org/C117619785","wikidata":"https://www.wikidata.org/wiki/Q6094414","display_name":"Iterative learning control","level":3,"score":0.3517000079154968},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.31299999356269836},{"id":"https://openalex.org/C177769412","wikidata":"https://www.wikidata.org/wiki/Q278090","display_name":"Prior probability","level":3,"score":0.31200000643730164},{"id":"https://openalex.org/C2776214188","wikidata":"https://www.wikidata.org/wiki/Q408386","display_name":"Inference","level":2,"score":0.31130000948905945},{"id":"https://openalex.org/C2779714256","wikidata":"https://www.wikidata.org/wiki/Q25305062","display_name":"Multiple Models","level":2,"score":0.2976999878883362},{"id":"https://openalex.org/C61797465","wikidata":"https://www.wikidata.org/wiki/Q1188986","display_name":"Term (time)","level":2,"score":0.28700000047683716},{"id":"https://openalex.org/C114289077","wikidata":"https://www.wikidata.org/wiki/Q3284399","display_name":"Statistical model","level":2,"score":0.27730000019073486},{"id":"https://openalex.org/C175154964","wikidata":"https://www.wikidata.org/wiki/Q380077","display_name":"Task analysis","level":3,"score":0.27549999952316284},{"id":"https://openalex.org/C159176650","wikidata":"https://www.wikidata.org/wiki/Q43261","display_name":"Horizon","level":2,"score":0.26750001311302185},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.25619998574256897},{"id":"https://openalex.org/C124101348","wikidata":"https://www.wikidata.org/wiki/Q172491","display_name":"Data mining","level":1,"score":0.25459998846054077},{"id":"https://openalex.org/C159694833","wikidata":"https://www.wikidata.org/wiki/Q2321565","display_name":"Iterative method","level":2,"score":0.25110000371932983},{"id":"https://openalex.org/C80478641","wikidata":"https://www.wikidata.org/wiki/Q195771","display_name":"Sequential analysis","level":2,"score":0.25060001015663147},{"id":"https://openalex.org/C52740198","wikidata":"https://www.wikidata.org/wiki/Q1539564","display_name":"Importance sampling","level":3,"score":0.25040000677108765}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2026.3655193","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2026.3655193","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W2090528409","https://openalex.org/W2123871098","https://openalex.org/W2158782408","https://openalex.org/W2584986912","https://openalex.org/W2963439114","https://openalex.org/W2972830116","https://openalex.org/W3206896761","https://openalex.org/W3207082970","https://openalex.org/W4253187718","https://openalex.org/W4313011305","https://openalex.org/W4383109321","https://openalex.org/W4385430674","https://openalex.org/W4389665935","https://openalex.org/W4392207744","https://openalex.org/W4403337227","https://openalex.org/W4411086224","https://openalex.org/W4411122331","https://openalex.org/W4413917178","https://openalex.org/W4413925046","https://openalex.org/W4413925917","https://openalex.org/W4414079054","https://openalex.org/W7103751753"],"related_works":[],"abstract_inverted_index":{"We":[0,63],"present":[1],"a":[2,80],"generative":[3],"predictive":[4],"control":[5,25],"(GPC)":[6],"framework":[7],"that":[8,42,91],"amortizes":[9],"sampling-based":[10],"Model":[11],"Predictive":[12],"Control":[13],"(SPC)":[14],"by":[15],"bootstrapping":[16],"it":[17],"with":[18,79],"conditional":[19],"flow-matching":[20],"models":[21],"trained":[22],"on":[23,34,88],"SPC":[24,52],"sequences":[26],"collected":[27],"in":[28,85],"simulation.":[29],"Unlike":[30],"prior":[31],"work":[32],"relying":[33],"iterative":[35],"refinement":[36],"or":[37],"gradient-based":[38],"solvers,":[39],"we":[40],"show":[41,90],"meaningful":[43],"proposal":[44],"distributions":[45],"can":[46],"be":[47],"learned":[48],"directly":[49],"from":[50],"noisy":[51],"data,":[53],"enabling":[54],"more":[55],"efficient":[56],"and":[57,87,101],"informed":[58],"sampling":[59],"during":[60],"online":[61],"planning.":[62],"further":[64],"demonstrate,":[65],"for":[66],"the":[67,70],"first":[68],"time,":[69],"application":[71],"of":[72],"this":[73],"approach":[74],"to":[75],"real-world":[76],"contact-rich":[77],"loco-manipulation":[78],"quadruped":[81],"robot.":[82],"Extensive":[83],"experiments":[84],"simulation":[86],"hardware":[89],"our":[92],"method":[93],"improves":[94],"sample":[95],"efficiency,":[96],"reduces":[97],"planning":[98],"horizon":[99],"requirements,":[100],"generalizes":[102],"robustly":[103],"across":[104],"task":[105],"variations.":[106]},"counts_by_year":[],"updated_date":"2026-02-07T06:11:34.122080","created_date":"2026-01-21T00:00:00"}
