Sampling-Based MuJoCo MPC for Double-Pendulum Sway Suppression on a Shipboard Crane

arXiv:2603.16407 · cs.RO · Submitted 2026-03-17 · Read on arXiv

cs.RO

Submitted: 2026-03-17

Updated: 2026-09-23

Comments: 8 pages, 5 figures

License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/

Terminology

• Robustness — 5× in this paper · explained in 5 episodes
• Reinforcement Learning — 4× in this paper · explained in 4 episodes
• Fidelity — 3× in this paper · explained in 2 episodes
• PID Controller — 3× in this paper · explained in 2 episodes
• Accuracy — 2× in this paper · explained in 1 episode
• Benchmark — 2× in this paper · explained in 2 episodes
• Benchmarking — 2× in this paper · explained in 3 episodes
• Deep Reinforcement Learning — 2× in this paper · explained in 2 episodes
• Reinforcement Learning (RL) — 2× in this paper · explained in 24 episodes
• Reward Function — 2× in this paper · explained in 2 episodes
• System Identification — 2× in this paper · explained in 3 episodes
• Ablation — 1× in this paper · explained in 1 episode
• Ablation Studies — 1× in this paper · explained in 1 episode
• Actor — 1× in this paper · explained in 3 episodes
• Angular Error — 1× in this paper · explained in 1 episode
• Core — 1× in this paper · explained in 2 episodes
• Decoupling — 1× in this paper · explained in 2 episodes
• Generalization — 1× in this paper · explained in 13 episodes
• IEEE International Conference on Robotics and Automation — 1× in this paper
• Non-linear Coupling — 1× in this paper · explained in 2 episodes
• Proximal Policy Optimization (PPO) — 1× in this paper · explained in 4 episodes
• Soft Actor-Critic (SAC) — 1× in this paper · explained in 2 episodes
• Verification — 1× in this paper · explained in 2 episodes

Sources

• Predictive Sampling: Real-time Behaviour Synthesis with MuJoCo
• Safe Payload Transfer with Ship-Mounted Cranes: A Robust Model Predictive Control Approach
• Towards Autonomous Wood-Log Grasping with a Forestry Crane: Simulator and Benchmarking
• Whole-Body Model-Predictive Control of Legged Robots with MuJoCo
• Robust and Efficient MuJoCo-based Model Predictive Control via Web of Affine Spaces Derivatives
• LEAP Hand: Low-Cost, Efficient, and Anthropomorphic Hand for Robot Learning
• Sampling-based Model Predictive Control Leveraging Parallelizable Physics Simulations
• Proximal Policy Optimization Algorithms

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