human-robot interaction 1juggling 1motion planning 1predictive tracking 1real-time control 1shared autonomy 1
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cs.RO2026
Catch, Throw, Repeat: Planning for Human-Robot Partner Juggling
Jonathan Rainer Lippert, Kai Ploeger, Abir Chowdhury +3
The paper introduces a real‑time planning and control system that lets a robot catch and throw balls in sync with a human partner, enabling coordinated multi‑ball juggling through…
cs.RO2026
Task-Error Residual Learning for Real-Robot Five-Ball Juggling
Kai Ploeger, Jan Peters
For residual learning that refines existing behavior, sample efficiency depends on two things: how much information each rollout returns, and how efficiently the learner uses that…
cs.RO2024
Beyond the Cascade: Juggling Vanilla Siteswap Patterns
Mario Gomez Andreu, Kai Ploeger, Jan Peters
Being widespread in human motor behavior, dynamic movements demonstrate higher efficiency and greater capacity to address a broader range of skill domains compared to their quasi-s…