{"id":"https://openalex.org/W7165685462","doi":"https://doi.org/10.48550/arxiv.2606.20712","title":"Real-World Deployment of Massively Parallel Sampling-Based MPC for Contact-Rich Manipulation","display_name":"Real-World Deployment of Massively Parallel Sampling-Based MPC for Contact-Rich Manipulation","publication_year":2026,"publication_date":"2026-06-16","ids":{"openalex":"https://openalex.org/W7165685462","doi":"https://doi.org/10.48550/arxiv.2606.20712"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2606.20712","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.20712","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2606.20712","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5139159180","display_name":"Magnus Dierking","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Dierking, Magnus","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101562381","display_name":"Jo\u00e3o Carvalho","orcid":"https://orcid.org/0000-0002-5650-1221"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Carvalho, Joao","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102888876","display_name":"An T. Le","orcid":"https://orcid.org/0000-0003-0929-3316"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Le, An Thai","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5026055366","display_name":"Georgia Chalvatzaki","orcid":"https://orcid.org/0000-0002-5055-199X"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Chalvatzaki, Georgia","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5139127533","display_name":"Jan Peters","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Peters, Jan","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.3057999908924103,"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":0.3057999908924103,"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/T10791","display_name":"Advanced Control Systems Optimization","score":0.15690000355243683,"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/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.11810000240802765,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/massively-parallel","display_name":"Massively parallel","score":0.7519999742507935},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.6625000238418579},{"id":"https://openalex.org/keywords/key","display_name":"Key (lock)","score":0.6171000003814697},{"id":"https://openalex.org/keywords/software-deployment","display_name":"Software deployment","score":0.4823000133037567},{"id":"https://openalex.org/keywords/domain","display_name":"Domain (mathematical analysis)","score":0.45489999651908875},{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.45089998841285706},{"id":"https://openalex.org/keywords/sample","display_name":"Sample (material)","score":0.40720000863075256},{"id":"https://openalex.org/keywords/adaptation","display_name":"Adaptation (eye)","score":0.40139999985694885},{"id":"https://openalex.org/keywords/sampling","display_name":"Sampling (signal processing)","score":0.3578999936580658}],"concepts":[{"id":"https://openalex.org/C190475519","wikidata":"https://www.wikidata.org/wiki/Q544384","display_name":"Massively parallel","level":2,"score":0.7519999742507935},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7394000291824341},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.6625000238418579},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.6171000003814697},{"id":"https://openalex.org/C105339364","wikidata":"https://www.wikidata.org/wiki/Q2297740","display_name":"Software deployment","level":2,"score":0.4823000133037567},{"id":"https://openalex.org/C36503486","wikidata":"https://www.wikidata.org/wiki/Q11235244","display_name":"Domain (mathematical analysis)","level":2,"score":0.45489999651908875},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.45089998841285706},{"id":"https://openalex.org/C198531522","wikidata":"https://www.wikidata.org/wiki/Q485146","display_name":"Sample (material)","level":2,"score":0.40720000863075256},{"id":"https://openalex.org/C139807058","wikidata":"https://www.wikidata.org/wiki/Q352374","display_name":"Adaptation (eye)","level":2,"score":0.40139999985694885},{"id":"https://openalex.org/C173608175","wikidata":"https://www.wikidata.org/wiki/Q232661","display_name":"Parallel computing","level":1,"score":0.37779998779296875},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.37459999322891235},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.373199999332428},{"id":"https://openalex.org/C140779682","wikidata":"https://www.wikidata.org/wiki/Q210868","display_name":"Sampling (signal processing)","level":3,"score":0.3578999936580658},{"id":"https://openalex.org/C2989134064","wikidata":"https://www.wikidata.org/wiki/Q288510","display_name":"Execution time","level":2,"score":0.35199999809265137},{"id":"https://openalex.org/C18762648","wikidata":"https://www.wikidata.org/wiki/Q42213","display_name":"Work (physics)","level":2,"score":0.33309999108314514},{"id":"https://openalex.org/C147764199","wikidata":"https://www.wikidata.org/wiki/Q6865248","display_name":"Minification","level":2,"score":0.3009999990463257},{"id":"https://openalex.org/C145912823","wikidata":"https://www.wikidata.org/wiki/Q113558","display_name":"Dynamics (music)","level":2,"score":0.2957000136375427},{"id":"https://openalex.org/C48677424","wikidata":"https://www.wikidata.org/wiki/Q6888088","display_name":"Mode (computer interface)","level":2,"score":0.28769999742507935},{"id":"https://openalex.org/C61797465","wikidata":"https://www.wikidata.org/wiki/Q1188986","display_name":"Term (time)","level":2,"score":0.287200003862381},{"id":"https://openalex.org/C459310","wikidata":"https://www.wikidata.org/wiki/Q117801","display_name":"Computational science","level":1,"score":0.2840000092983246},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.27399998903274536},{"id":"https://openalex.org/C42935608","wikidata":"https://www.wikidata.org/wiki/Q190411","display_name":"Field-programmable gate array","level":2,"score":0.27390000224113464},{"id":"https://openalex.org/C175154964","wikidata":"https://www.wikidata.org/wiki/Q380077","display_name":"Task analysis","level":3,"score":0.2660999894142151},{"id":"https://openalex.org/C18789546","wikidata":"https://www.wikidata.org/wiki/Q1341206","display_name":"Hybrid computer","level":2,"score":0.2597000002861023},{"id":"https://openalex.org/C113775141","wikidata":"https://www.wikidata.org/wiki/Q428691","display_name":"Computer engineering","level":1,"score":0.2590000033378601},{"id":"https://openalex.org/C2781020372","wikidata":"https://www.wikidata.org/wiki/Q533093","display_name":"On the fly","level":2,"score":0.2587999999523163},{"id":"https://openalex.org/C106515295","wikidata":"https://www.wikidata.org/wiki/Q26806595","display_name":"Parallel processing","level":2,"score":0.25600001215934753}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2606.20712","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.20712","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2606.20712","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.20712","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Sampling-based":[0],"Model":[1],"Predictive":[2],"Control":[3],"(SMPC)":[4],"is":[5,127],"a":[6,59,69],"promising":[7],"strategy":[8],"for":[9,42,130,142],"contact-rich":[10,146],"robotic":[11],"manipulation,":[12],"combining":[13],"gradient-free":[14],"optimization":[15],"with":[16,49,76],"massively":[17],"parallel":[18],"GPU":[19],"simulation.":[20,33],"Yet,":[21],"most":[22],"prior":[23],"work":[24],"relies":[25],"on":[26,58,99],"simplified":[27],"dynamics":[28],"or":[29],"remains":[30],"confined":[31],"to":[32],"We":[34],"present":[35],"an":[36],"MPC":[37,109,144],"framework":[38],"that":[39,91,113,126],"leverages":[40],"JAX":[41],"large-scale":[43],"parallelization":[44],"and":[45,55,87,98,152],"efficient":[46],"computation,":[47],"coupled":[48],"the":[50,64,108,153],"high-fidelity":[51],"MuJoCo":[52],"MJX":[53],"simulator,":[54],"deploy":[56],"it":[57],"Franka":[60],"Research":[61],"3":[62],"executing":[63],"Push-T":[65],"manipulation":[66],"task":[67],"through":[68],"complete":[70],"real-to-sim-to-real":[71],"pipeline.":[72],"The":[73],"MTP":[74],"variant":[75],"structured":[77],"global":[78,121],"sampling":[79],"outperforms":[80],"unimodal":[81],"baselines":[82],"such":[83],"as":[84],"CEM,":[85],"MPPI,":[86],"PS":[88],"across":[89],"tasks":[90],"require":[92],"mode":[93],"switching,":[94],"both":[95],"in":[96,145,160],"simulation":[97],"hardware.":[100],"Furthermore,":[101],"we":[102],"evaluate":[103],"online":[104],"domain":[105],"randomization":[106],"within":[107],"sample":[110],"budget,":[111],"showing":[112],"contact-initiation":[114],"parameters":[115,123],"yield":[116],"interpretable":[117],"adaptation":[118],"signals,":[119],"whereas":[120],"physics":[122],"provide":[124],"feedback":[125],"too":[128],"weak":[129],"reliable":[131],"exploitation":[132],"at":[133],"typical":[134],"replanning":[135],"frequencies.":[136],"These":[137],"findings":[138],"highlight":[139],"key":[140],"challenges":[141],"sampling-based":[143],"manipulation-contact":[147],"sensitivity,":[148],"tight":[149],"compute":[150],"budgets,":[151],"difficulty":[154],"of":[155],"obtaining":[156],"informative":[157],"domain-randomization":[158],"signals":[159],"real":[161],"time.":[162]},"counts_by_year":[],"updated_date":"2026-07-28T07:46:37.118299","created_date":"2026-06-24T00:00:00"}
