Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Combining Coarse and Fine Physics for Manipulation using
  Parallel-in-Time Integration   We present a method for fast and accurate physics-based predictions during
non-prehensile manipulation planning and control. Given an initial state and a
sequence of controls, the problem of predicting the resulting sequence of
states is a key component of a variety of model-based planning and control
algorithms. We propose combining a coarse (i.e. computationally cheap but not
very accurate) predictive physics model, with a fine (i.e. computationally
expensive but accurate) predictive physics model, to generate a hybrid model
that is at the required speed and accuracy for a given manipulation task. Our
approach is based on the Parareal algorithm, a parallel-in-time integration
method used for computing numerical solutions for general systems of ordinary
differential equations. We adapt Parareal to combine a coarse pushing model
with an off-the-shelf physics engine to deliver physics-based predictions that
are as accurate as the physics engine but run in substantially less wall-clock
time, thanks to parallelization across time. We use these physics-based
predictions in a model-predictive-control framework based on trajectory
optimization, to plan pushing actions that avoid an obstacle and reach a goal
location. We show that with hybrid physics models, we can achieve the same
success rates as the planner that uses the off-the-shelf physics engine
directly, but significantly faster. We present experiments in simulation and on
a real robotic setup. Videos are available here: https://youtu.be/5e9oTeu4JOU

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The categories of this paper are: hep-th
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The categories of this paper are: mtrl-th
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The categories of this paper are: stat
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The categories of this paper are: dg-ga
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The categories of this paper are: funct-an
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The categories of this paper are: nucl-th
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The categories of this paper are: solv-int
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The categories of this paper are: alg-geom
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The categories of this paper are: acc-phys
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The categories of this paper are: q-bio
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The categories of this paper are: hep-lat
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The categories of this paper are: chem-ph
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The categories of this paper are: nucl-ex
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The categories of this paper are: math-ph
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The categories of this paper are: comp-gas
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The categories of this paper are: hep-ph