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cs.RO2026
Beyond Policy Alignment: Closing the Planning-Learning Loop for Robot Control with Learned World Models
Kowndinya Boyalakuntla, Yuhan Liu, Abdeslam Boularias
Planning with learned world models combines online trajectory optimization with learned value and policy functions for high-dimensional control. Because the planner determines the…
cs.RO2026
Plan-Conditioned Imitation for Robust Object Retrieval under Self-Occlusion in Dense Clutter
Kowndinya Boyalakuntla, Ajinkya Pawar, Abdeslam Boularias +1
Retrieving objects from dense clutter requires rearrangement during which the manipulator can occlude objects while moving them. Repeated arm withdrawals to restore visibility inte…