AiRLIHockey: Highly Reactive Contact Control and Stochastic Optimal Shooting
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arXiv
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| Main Authors: | , , |
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| Format: | Preprint |
| Published: |
2024
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| _version_ | 1866909083591770112 |
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| author | Jankowski, Julius Marić, Ante Calinon, Sylvain |
| author_facet | Jankowski, Julius Marić, Ante Calinon, Sylvain |
| contents | Air hockey is a highly reactive game which requires the player to quickly reason over stochastic puck and contact dynamics. We implement a hierarchical framework which combines stochastic optimal control for planning shooting angles and sampling-based model-predictive control for continuously generating constrained mallet trajectories. Our agent was deployed and evaluated in simulation and on a physical setup as part of the Robot Air-Hockey challenge competition at NeurIPS 2023. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2401_14964 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | AiRLIHockey: Highly Reactive Contact Control and Stochastic Optimal Shooting Jankowski, Julius Marić, Ante Calinon, Sylvain Robotics Air hockey is a highly reactive game which requires the player to quickly reason over stochastic puck and contact dynamics. We implement a hierarchical framework which combines stochastic optimal control for planning shooting angles and sampling-based model-predictive control for continuously generating constrained mallet trajectories. Our agent was deployed and evaluated in simulation and on a physical setup as part of the Robot Air-Hockey challenge competition at NeurIPS 2023. |
| title | AiRLIHockey: Highly Reactive Contact Control and Stochastic Optimal Shooting |
| topic | Robotics |
| url | https://arxiv.org/abs/2401.14964 |