CVaR
The planner favors grasps that remain robust under adverse friction or contact realizations. The CVaR objective replaces an average-cost target with tail robustness. The risk-sensitive grasp cost uses CVaR over costs sampled from the belie…
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The planner favors grasps that remain robust under adverse friction or contact realizations. The CVaR objective replaces an average-cost target with tail robustness. The risk-sensitive grasp cost uses CVaR over costs sampled from the belief. The soft CVaR estimator replaces the hinge term with a SoftPlus approximation. The grasping problem is formulated as risk-sensitive belief-space grasping under partial observability.