3 papers
cs.RO2026
Learning from Demonstration via Spatiotemporal Tubes for Unknown Euler-Lagrange Systems
Ratnangshu Das, Puneeth Shankar, Varuni Buereddy +2
We present STT-LfD, a unified Learning from Demonstration (LfD) framework that integrates motion learning with control for unknown Euler-Lagrange systems. Unlike traditional decoup…
cs.RO2026
Safe and Optimal Variable Impedance Control via Certified Reinforcement Learning
Shreyas Kumar, Ravi Prakash
Reinforcement learning (RL) offers a powerful approach for robots to learn complex, collaborative skills by combining Dynamic Movement Primitives (DMPs) for motion and Variable Imp…
math.OC2025
Closed Form HJB Solution for Continuous-Time Optimal Control of a Non-Linear Input-Affine System
Akash Vyas, Shreyas Kumar, Jayant Kumar Mohanta +1
Designing optimal controllers for nonlinear dynamical systems often relies on reinforcement learning and adaptive dynamic programming (ADP) to approximate solutions of the Hamilton…