3 papers
cs.RO2026
Res-HIL: Human-Guided Residual Reinforcement Learning for Sample-Efficient Dexterous Manipulation
Mariia Iavorskaia, Christian Dietz, Sebastian Albrecht +1
Imitation learning enables robots to acquire manipulation skills from demonstrations, but the resulting policies can fail outside the training data, while collecting more demonstra…
cs.RO2026
Robust Rigid Body Assembly via Contact-Implicit Optimal Control with Exact Second-Order Derivatives
Christian Dietz, Sebastian Albrecht, Gianluca Frison +2
Efficient planning of assembly motions is a long standing challenge in the field of robotics that has been primarily tackled with reinforcement learning and sampling-based methods…
math.OC2024
High Accuracy Numerical Optimal Control for Rigid Bodies with Patch Contacts through Equivalent Contact Points -- Extended Version
Christian Dietz, Armin Nurkanović, Sebastian Albrecht +1
This paper extends the Finite Elements with Switch Detection and Jumps (FESD-J) [1] method to problems of rigid body dynamics involving patch contacts. The FESD-J method is a high…