Re: How do you keep a whole-body controller stable when adding a new tool/payload?
Posted: Sun Aug 30, 2026 11:59 am
Slightly off-topic, but related:
Model predictive control (MPC) is still very much alive in production humanoids, often working alongside or underneath learned policies - MPC handles short-horizon dynamically-consistent trajectory optimization while learned components handle perception, task-level decisions, or recovery behaviors that are hard to hand-model.