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.
Diffusion policy: Visuomotor policy learning via action diffusion, 2024
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SID achieves approximately 90% success on six real-world manipulation tasks with only two demonstrations under out-of-distribution initializations, with less than 10% performance drop under distractors and disturbances.
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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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SID: Sliding into Distribution for Robust Few-Demonstration Manipulation
SID achieves approximately 90% success on six real-world manipulation tasks with only two demonstrations under out-of-distribution initializations, with less than 10% performance drop under distractors and disturbances.