2 papers
cs.RO2026
Q-Guided Stein Variational Model Predictive Control via RL-informed Policy Prior
Shizhe Cai, Zeya Yin, Jayadeep Jacob +1
Model Predictive Control (MPC) enables reliable trajectory optimization under dynamics constraints, but often depends on accurate dynamics models and carefully hand-designed cost f…
cs.RO2025
Deformable Cluster Manipulation via Whole-Arm Policy Learning
Jayadeep Jacob, Wenzheng Zhang, Houston Warren +3
Manipulating clusters of deformable objects presents a substantial challenge with widespread applicability, but requires contact-rich whole-arm interactions. A potential solution m…