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cs.RO2026
CC-VPSTO: Chance-Constrained Via-Point-Based Stochastic Trajectory Optimisation for Online Robot Motion Planning under Uncertainty
Lara Brudermüller, Guillaume Berger, Julius Jankowski +3
Reliable robot autonomy hinges on decision-making systems that account for uncertainty without imposing overly conservative restrictions on the robot's action space. We introduce C…
cs.RO2026
Generative Models From and For Sampling-Based MPC: A Bootstrapped Approach For Adaptive Contact-Rich Manipulation
Lara Brudermüller, Brandon Hung, Xinghao Zhu +4
We present a generative predictive control (GPC) framework that amortizes sampling-based Model Predictive Control (SPC) by bootstrapping it with conditional flow-matching models tr…
cs.RO2024
Robust Pushing: Exploiting Quasi-static Belief Dynamics and Contact-informed Optimization
Julius Jankowski, Lara Brudermüller, Nick Hawes +1
Non-prehensile manipulation such as pushing is typically subject to uncertain, non-smooth dynamics. However, modeling the uncertainty of the dynamics typically results in intractab…