From the 1 of 4 linked papers with an AI index.
4 papers
Distributionally Robust Control via Stein Variational Inference for Contact-Rich Manipulation
Hrishikesh Sathyanarayan, Victor Vantilborgh, Harish Ravichandar +2
The paper introduces a model‑based manipulation controller that uses Stein variational inference to model task‑sensitive uncertainty, improving robustness in contact‑rich robotic t…
Dual Control Reference Generation for Optimal Pick-and-Place Execution under Payload Uncertainty
Victor Vantilborgh, Hrishikesh Sathyanarayan, Guillaume Crevecoeur +2
This work addresses the problem of robot manipulation tasks under unknown dynamics, such as pick-and-place tasks under payload uncertainty, where active exploration and(/for) onlin…
Quality Over Quantity: Curating Contact-Based Robot Datasets Improves Learning
Hrishikesh Sathyanarayan, Victor Vantilborgh, Ian Abraham
In this paper, we investigate the utility of datasets and whether more data or the 'right' data is advantageous for robot learning. In particular, we are interested on quantifying…
Probabilistic Latent Variable Modeling for Dynamic Friction Identification and Estimation
Victor Vantilborgh, Sander De Witte, Frederik Ostyn +2
Precise identification of dynamic models in robotics is essential to support control design, friction compensation, output torque estimation, etc. A longstanding challenge remains…