Showing 2026 · cs.ROShow all
3 papers · 2 filters
cs.RO2026
Contact-Implicit Stein Projected ADMM for Discovery of Diverse Contact-Rich Manipulation Strategies
Hrishikesh Sathyanarayan, Christian Hughes, Ian Abraham
Contact-implicit trajectory optimization formulates contact-rich manipulation as a single constrained program; however, that single program run collapses onto one local optimum out…
cs.RO2026
Distributionally Robust Control via Stein Variational Inference for Contact-Rich Manipulation
Hrishikesh Sathyanarayan, Victor Vantilborgh, Harish Ravichandar +2
Reliable robotic manipulation requires control policies that can accurately represent and adapt to uncertainty arising from contact-rich interactions. Modern data-driven methods mi…
cs.RO2026
Stein Variational Uncertainty-Adaptive Model Predictive Control
Hrishikesh Sathyanarayan, Ian Abraham
We propose a Stein variational distributionally robust controller for nonlinear dynamical systems with latent parametric uncertainty. The method is an alternative to conservative w…