Author

Spandan Roy

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Preprint Oct 2026

Shifted-Chart Composition for Horizon-Optimal Time-Varying LQR

Horizon optimization in finite-horizon LQR treats the horizon $T$ as a decision variable and adds a penalty $wT$ to the cost. Recent composition-based methods evaluate all candidate horizons in $O(Nn^3)$, instead of the $O(N^2n^3)$ of one Riccati recursion per horizon, but they track the inverse cost-to-go $P^{-1}$ and...

Viswas Dinesh, Spandan Roy · 0 citations

Preprint Sep 2026

AnyViewDex: View-Invariant Dexterous Manipulation from RGB Observations

This work shows that view-invariant control can be achieved without explicit test-time 3D sensing by encoding geometric knowledge into the visual representation during simulation, and presents AnyViewDex, an asymmetric training pipeline that combines multi-view contrastive alignment with privileged 3D geometric supervi...

Soham Patil, O. Gunjal, Sourabh P. Bhosale et al. · 0 citations