ToMPC: Task-oriented Model Predictive Control via ADMM for Safe Robotic Manipulation

作者：Xinyu Jia, Wenxin Wang, Jun Yang, Yongping Pan, Haoyong Yu · 单位：the Peng Cheng Laboratory, Shenzhen · 会议/期刊：RA-L 2026 · 日期：2026-03-14 · 来源：Manipulation Tasks / Basic Manipulation / Non-learning Control