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.
A stochastic version of stein variational gradient descent for efficient sampling.Communica- tions in Applied Mathematics and Computational Sci- ence, 15(1):37–63, June 2020
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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.