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cs.RO2026
Natural Functional Gradients for Smooth Trajectory Optimization
Kisang Park, Chanwoo Kim, Kyungjae Lee +1
Generating collision-free and smooth motions remains a central challenge in robotic manipulation, particularly in cluttered environments and narrow passages where feasible regions…
cs.LG2026
Probabilistic Smoothing with Ratio-Monotone Transforms for Global Optimization
Kukyoung Jang, Taehyun Cho, Junrui Zhang +2
Probabilistic smoothing is a standard tool for global optimization, but existing methods rely on Gaussian kernels and specific transforms, often resulting in strong hyperparameter…