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cs.RO2025
Integrating Model-based Control and RL for Sim2Real Transfer of Tight Insertion Policies
Isidoros Marougkas, Dhruv Metha Ramesh, Joe H. Doerr +4
Object insertion under tight tolerances () is an important but challenging assembly task as even small errors can result in undesirable contacts. Recent effo…
cs.RO2025
Kinodynamic Trajectory Following with STELA: Simultaneous Trajectory Estimation & Local Adaptation
Edgar Granados, Sumanth Tangirala, Kostas E. Bekris
State estimation and control are often addressed separately, leading to unsafe execution due to sensing noise, execution errors, and discrepancies between the planning model and re…