# RoKON: Efficient and Adaptive Data-Enabled Predictive Control for Robotic Manipulation

- Source: arXiv cs.RO
- Published: 2026-10-27T04:00:00.000Z
- RoboHot: https://robohot.news/en/items/oynqjeoxbe4u9fkk5wie5jlsa
- Original: https://arxiv.org/abs/2610.35458

## Summary

The paper proposes RoKON, a data-driven predictive control method for robotic manipulation that does not require learning an explicit dynamics model. The method uses a Gaussian-kernel nonlinear predictor to represent the input-output data relationship, proposes a damped Gauss-Newton method that exploits the least-squares structure of the control problem to achieve real-time control, and introduces a hybrid buffer management strategy that incorporates informative online data while retaining relevant offline data, allowing adaptation to changes in dynamics.