Panagiotis Chatzakos

Robotic Mushroom Harvesting with Real2Sim2Real and Model Predictive Path Integral (MPPI) Based Planning

We present a strategy for te problem of robotic button mushroom harvesting (Agaricus Bisporus) that involves a Real2Sim2Real pipeline with dynamic scene reconstruction and a Model Predictive Path Integral (MPPI) control & planning architecture for generating optimal uprooting motion primitives based