@article{tompctaskorientedmodelpredictivecontrolv,
  title = {ToMPC: Task-oriented Model Predictive Control via ADMM for Safe Robotic Manipulation},
  author = {Xinyu Jia and Wenxin Wang and Jun Yang and Yongping Pan and Haoyong Yu},
  year = {2026},
  eprint = {2603.13944},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2603.13944},
}