Pith Number

pith:A5CUGUDO

pith:2026:A5CUGUDOT3ULB4LXO3QBOOK4UA

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Variational Neural Belief Parameterizations for Robust Dexterous Grasping under Multimodal Uncertainty

Calin Belta, Clinton Enwerem, John S. Baras, Shreya Kalyanaraman

A variational Gaussian-mixture belief enables faster, more robust dexterous grasping by optimizing risk-sensitive objectives directly.

arxiv:2604.25897 v2 · 2026-04-28 · cs.RO · cs.LG · cs.SY · eess.SY

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Claims

C1strongest claim

In simulation, our variational neural belief improves robust grasp success under contact-parameter uncertainty and exogenous force perturbations while reducing planning time by roughly an order of magnitude relative to particle-filter model-predictive control. On a serial-chain robot arm with a multifingered hand, we validate grasp-and-lift success under object-pose uncertainty against a Gaussian baseline. Both methods succeed on the tested perturbations, but our controller terminates in fewer steps and less wall-clock time while achieving a higher tactile grasp-quality proxy.

C2weakest assumption

That a finite Gaussian mixture plus variational inference yields a sufficiently accurate and differentiable approximation to the true multimodal posterior over latent contact parameters and object pose for the CVaR objective to produce reliable robustness gains.

C3one line summary

A variational Gaussian-mixture belief with Gumbel-Softmax and reparameterized sampling enables direct gradient optimization of tail-risk grasping objectives, improving success rates and cutting planning time versus particle-filter baselines.

Cited by

1 paper in Pith

EquiDexFlow: Contact-Grounded SE(3)-Equivariant Dexterous Grasp Generative Flows

Receipt and verification

First computed	2026-07-28T00:21:36.140301Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

074543506e9ee8b0f17776e017395ca0088c91d1b5330b25032862b30ac38cf9

Aliases

arxiv: 2604.25897 · arxiv_version: 2604.25897v2 · doi: 10.48550/arxiv.2604.25897 · pith_short_12: A5CUGUDOT3UL · pith_short_16: A5CUGUDOT3ULB4LX · pith_short_8: A5CUGUDO

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Verify this Pith Number yourself

curl -sH 'Accept: application/ld+json' https://pith.science/pith/A5CUGUDOT3ULB4LXO3QBOOK4UA \
  | jq -c '.canonical_record' \
  | python3 -c "import sys,json,hashlib; b=json.dumps(json.loads(sys.stdin.read()), sort_keys=True, separators=(',',':'), ensure_ascii=False).encode(); print(hashlib.sha256(b).hexdigest())"
# expect: 074543506e9ee8b0f17776e017395ca0088c91d1b5330b25032862b30ac38cf9

Canonical record JSON

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  "metadata": {
    "abstract_canon_sha256": "f13ffe2590a7a9783c5e5ff0f658cc5c3be370eeb200c2bbeb646254de33c94c",
    "cross_cats_sorted": [
      "cs.LG",
      "cs.SY",
      "eess.SY"
    ],
    "license": "http://creativecommons.org/licenses/by/4.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2026-04-28T17:40:49Z",
    "title_canon_sha256": "4d016aa5960fe168986b689f09a8464edfe82731b9f05a300d7942ce577e7350"
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  "source": {
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    "kind": "arxiv",
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