3 papers
cs.RO2026
Robust Convex Model Predictive Control with collision avoidance guarantees for robot manipulators
Bernhard Wullt, Johannes Köhler, Per Mattsson +2
Industrial manipulators typically operate in cluttered environments, where safe motion planning is critical. However, model uncertainties further complicate this task, which leads…
cs.RO2026
A neural signed configuration distance function for path planning of picking manipulators
Bernhard Wullt, Mikael Norrlöf, Per Mattsson +1
Picking manipulators are task specific robots, with fewer degrees of freedom compared to general-purpose manipulators, and are heavily used in industry. The efficiency of the picki…
cs.LG2025
Entropy-regularized Diffusion Policy with Q-Ensembles for Offline Reinforcement Learning
Ruoqi Zhang, Ziwei Luo, Jens Sjölund +2
This paper presents advanced techniques of training diffusion policies for offline reinforcement learning (RL). At the core is a mean-reverting stochastic differential equation (SD…