Parareal with a learned coarse model for robotic manipulation

Wisdom Agboh, Oliver Grainger, Daniel Ruprecht & Mehmet R, Dogar
A key component of many robotics model-based planning and control algorithms is physics predictions, that is, forecasting a sequence of states given an initial state and a sequence of controls. This process is slow and a major computational bottleneck for robotics planning algorithms. Parallel-in-time integration methods can help to leverage parallel computing to accelerate physics predictions and thus planning. The Parareal algorithm iterates between a coarse serial integrator and a fine parallel integrator. A key...
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