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Introduction to MASEM (Manifold Sampling via Entropy Maximization)
Published:
This post is an introduction/explanation to the paper “Manifold Sampling via Entropy Maximization” by Cornelius V. Braun, me, and Marc Toussaint [1], where we introduce a framework called MASEM. I will explain MASEM very informally; I recommend reading the paper (perhaps armed with the intuition gained here) for a rigorous treatment.
Hello World
Published:
This is going to be a very cool blog with relevant posts about robotics and stuff (I hope). Welcome, feel free to look around. If you have suggestions, don’t hesitate to contact me!
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)
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
