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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…