21 citations · 34 across the 13 of their papers we have counts for
4 papers · 1 filter
Screw Attention: Rigid-Body Algebra Inside a Transformer
Aly Magassouba
Learned manipulation policies rediscover from data the spatial relations that rigid-body mechanics supplies in closed form, which leaves them fragile to geometric change. We presen…
PhyPush: One Push is All You Need for Sensorless Physical Property Estimation with Physics-Guided Transformers
Koyo Fujii, Luis Figueredo, Praminda Caleb-Solly +4
Accurately estimating object mass and friction is fundamental to reliable robotic manipulation. While interactive perception is powerful, most approaches rely on specialized hardwa…
DRL-Based Pose Control for Double-Ackermann Robots Under Actuation Uncertainties
Oussama Zaim, Mélodie Daniel, Aly Magassouba +2
Robust deployment of deep reinforcement learning (DRL) policies on real robots remains challenging due to discrepancies between simulation and real-world dynamics. We address this…
ManeuverNet: A Soft Actor-Critic Framework for Precise Maneuvering of Double-Ackermann-Steering Robots with Optimized Reward Functions
Kohio Deflesselle, Mélodie Daniel, Aly Magassouba +2
Autonomous control of double-Ackermann-steering robots is essential in agricultural applications, where robots must execute precise and complex maneuvers within a limited space. Cl…