3 papers
cs.RO2026
Enhancing Sim2Real Transfer for Torque-Controlled Robots through Real2Sim Dynamics Estimation and Reinforcement Learning
Davide Bargellini, Alex Pasquali, Andrea Govoni +2
Transferring reinforcement learning policies from simulation to Real-World robots remains a major challenge, particularly when dealing with low-level torque control, where even sma…
cs.RO2023
Learning passive policies with virtual energy tanks in robotics
Riccardo Zanella, Gianluca Palli, Stefano Stramigioli +1
Within a robotic context, we merge the techniques of passivity-based control (PBC) and reinforcement learning (RL) with the goal of eliminating some of their reciprocal weaknesses,…
cs.RO2020
Effective Deployment of CNNs for 3DoF Pose Estimation and Grasping in Industrial Settings
Daniele De Gregorio, Riccardo Zanella, Gianluca Palli +1
In this paper we investigate how to effectively deploy deep learning in practical industrial settings, such as robotic grasping applications. When a deep-learning based solution is…