Support-Safe Variational Hybrid Filtering for Contact-Mode and Sparse-Law Recovery
Contact-rich robot dynamics are hybrid: a single observation can match several latent states and contact regimes (free, impact, stick--slip). A standard amortized filter that places no probability on a feasible contact transition will permanently lose the branch the robot actually follows. We introduce VHYDRO, a variational hybrid dynamics learner that prevents this branch loss. At each step, VHYDRO mixes the learned proposal with a feasible transition law before sampling and importance weighting, ensuring that every transition retained by the model-feasible carrier remains covered. VHYDRO jointly infers a continuous latent state and a discrete contact mode, and fits a sparse port-Hamilto...
| Authors | Marios Papamichalis, Regina Ruane |
|---|---|
| Primary category | cs.RO |
| Published | 12 May 2026 |
| Last updated at source | 12 May 2026 |
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