Manifold Sampling via Entropy Maximization
Cornelius V. Braun*, Tilman Burghoff*, Marc Toussaint; 2026
tl;dr: Sampling from disconnected manifolds is hard; we tackle it with an entropy-maximizing resampling strategy called MASEM.
Under Review
Publications
Stability-Guided Exploration for Diverse Motion Generation
Eckart Cobo-Briesewitz, Tilman Burghoff, Denis Shcherba, Armand Jordana, Marc Toussaint; 2026
tl;dr: The method (StaGE) generates diverse long-horizon manipulations by leveraging black-box simulation.
Accepted at ICRA Xplore Workshop 2026 (Oral)
