Contact-Implicit Stein Projected ADMM for Discovery of Diverse Contact-Rich Manipulation Strategies

arXiv:2609.28299 · cs.RO · Submitted 2026-09-23 · Read on arXiv

cs.RO

Submitted: 2026-09-23

Updated: 2026-09-23

Project page: https://anon-website-submission.github.io/stein-admm-website

Terminology

• Stein Variational Inference — 7× in this paper
• Stein Variational Gradient Descent — 5× in this paper
• Alternating Direction Method of Multipliers — 3× in this paper
• Generative Model — 2× in this paper · explained in 2 episodes
• Generative Models — 2× in this paper · explained in 2 episodes
• Alternating Direction Method of Multipliers (ADMM) — 1× in this paper · explained in 2 episodes
• Bayesian Inference — 1× in this paper · explained in 5 episodes
• Decoupling — 1× in this paper · explained in 2 episodes
• Generalization — 1× in this paper · explained in 13 episodes
• Hilbert Space — 1× in this paper · explained in 2 episodes
• Regularization — 1× in this paper · explained in 3 episodes

Sources

• Stein Variational Uncertainty-Adaptive Model Predictive Control

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