Exciting Contact Modes in Differentiable Simulations for Robot Learning. - Hrishikesh Sathyanarayan; Ian Abraham (CoRR, 2024)

Behavior Synthesis via Contact-Aware Fisher Information Maximization. - Hrishikesh Sathyanarayan; Ian Abraham (CoRR, 2025)

Quality Over Quantity: Curating Contact-Based Robot Datasets Improves Learning. - Hrishikesh Sathyanarayan; Victor Vantilborgh; Ian Abraham (CoRR, 2025)

Dual Control Reference Generation for Optimal Pick-and-Place Execution under Payload Uncertainty. - Victor Vantilborgh; Hrishikesh Sathyanarayan; Guillaume Crevecoeur; Ian Abraham; Tom Lefebvre (CoRR, 2025)