From the 1 of 9 linked papers with an AI index.
3 papers · 1 filter
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…
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…