4 papers
When Robots Sleep: Offline Skill Consolidation for Shared-Policy Robot Learning
Nethmi Jayasinghe, Diana Gontero, Amit Ranjan Trivedi
Robots that learn over long deployments must add new skills without losing the shared policy structure that makes earlier skills reusable. We study sequential robot skill learning,…
Residual Control for Fast Recovery from Dynamics Shifts
Nethmi Jayasinghe, Diana Gontero, Francesco Migliarba +4
Robotic systems operating in real-world environments inevitably encounter unobserved dynamics shifts during continuous execution, including changes in actuation, mass distribution,…
Cerebellar-Inspired Residual Control for Fault Recovery: From Inference-Time Adaptation to Structural Consolidation
Nethmi Jayasinghe, Diana Gontero, Spencer T. Brown +3
Robotic policies deployed in real-world environments often encounter post-training faults, where retraining, exploration, or system identification are impractical. We introduce an…
Intelligent Sensing-to-Action for Robust Autonomy at the Edge: Opportunities and Challenges
Amit Ranjan Trivedi, Sina Tayebati, Hemant Kumawat +9
Autonomous edge computing in robotics, smart cities, and autonomous vehicles relies on the seamless integration of sensing, processing, and actuation for real-time decision-making…