Introduces a Stein variational inference-based deterministic formulation for distributionally robust control in contact-rich robotic manipulation, reporting up to 3x improved robustness under parametric uncertainty.
Domain randomization via entropy maximization, 2024
2 Pith papers cite this work. Polarity classification is still indexing.
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Pith papers citing it
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cs.RO 2years
2026 2verdicts
UNVERDICTED 2representative citing papers
Differentiable simulation enables torque-sensor-free actuator model identification from trajectory data, achieving 1.88x better position tracking than a stand-trained baseline and 46% longer travel in downstream locomotion policies.
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Distributionally Robust Control via Stein Variational Inference for Contact-Rich Manipulation
Introduces a Stein variational inference-based deterministic formulation for distributionally robust control in contact-rich robotic manipulation, reporting up to 3x improved robustness under parametric uncertainty.
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Trajectory-based actuator identification via differentiable simulation
Differentiable simulation enables torque-sensor-free actuator model identification from trajectory data, achieving 1.88x better position tracking than a stand-trained baseline and 46% longer travel in downstream locomotion policies.