@article{onsurprisingeffectsofriskawaredomainrand,
  title = {On Surprising Effects of Risk-Aware Domain Randomization for Contact-Rich Sampling-based Predictive Control},
  author = {Sergio A. Esteban and Junheng Li and Vince Kurtz and Aaron D. Ames},
  year = {2026},
  eprint = {2605.03290},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2605.03290},
}