3 papers
math.OC2025
Distributed Constraint-Coupled Optimization: Harnessing ADMM-consensus for robustness
Mohamed Abdelmouamin Messilem, Guido Carnevale, Ruggero Carli
In this paper, we consider a network of agents that jointly aim to minimise the sum of local functions subject to coupling constraints involving all local variables. To solve this…
cs.RO2025
Data efficient Robotic Object Throwing with Model-Based Reinforcement Learning
Niccolò Turcato, Giulio Giacomuzzo, Matteo Terreran +3
Pick-and-place (PnP) operations, featuring object grasping and trajectory planning, are fundamental in industrial robotics applications. Despite many advancements in the field, PnP…
cs.RO2024
Learning control of underactuated double pendulum with Model-Based Reinforcement Learning
Niccolò Turcato, Alberto Dalla Libera, Giulio Giacomuzzo +2
This report describes our proposed solution for the second AI Olympics competition held at IROS 2024. Our solution is based on a recent Model-Based Reinforcement Learning algorithm…