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cs.RO2026
Can Tabular Foundation Models Guide Exploration in Robot Policy Learning?
Buqing Ou, Frederike Dümbgen
Policy optimization in high-dimensional continuous control for robotics remains a challenging problem. Predominant methods are inherently local and often require extensive tuning a…
cs.RO2026
Global Sampling-Based Trajectory Optimization for Contact-Rich Manipulation via KernelSOS
Zhongqi Wei, Frederike Dümbgen
Contact-rich manipulation is challenging due to its high dimensionality, the requirement for long time horizons, and the presence of hybrid contact dynamics. Sampling-based methods…