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cs.RO2025
Learning On The Job: Zero-Shot Task Execution under Parametric Uncertainty via Trajectory-Parametrized Dual Control
Victor Vantilborgh, Hrishikesh Sathyanarayan, Guillaume Crevecoeur +2
Model-based control can achieve reliable task performance, but its effectiveness depends on the accuracy of the underlying model. Robots operating under model uncertainty must ofte…
cs.RO2025
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…
cs.RO2025
Behavior Synthesis via Contact-Aware Fisher Information Maximization
Hrishikesh Sathyanarayan, Ian Abraham
Contact dynamics hold immense amounts of information that can improve a robot's ability to characterize and learn about objects in their environment through interactions. However,…