4 papers
Path Planning and Reinforcement Learning-Driven Control of On-Orbit Free-Flying Multi-Arm Robots
Álvaro Belmonte-Baeza, José Luis Ramón, Leonard Felicetti +2
This paper presents a hybrid approach that integrates trajectory optimization (TO) and reinforcement learning (RL) for motion planning and control of free-flying multi-arm robots i…
Planning as Descent: Goal-Conditioned Latent Trajectory Synthesis in Learned Energy Landscapes
Carlos Vélez García, Miguel Cazorla, Jorge Pomares
We present Planning as Descent (PaD), a framework for offline goal-conditioned reinforcement learning that grounds trajectory synthesis in verification. Instead of learning a polic…
Autonomous Legged Mobile Manipulation for Lunar Surface Operations via Constrained Reinforcement Learning
Alvaro Belmonte-Baeza, Miguel Cazorla, Gabriel J. García +2
Robotics plays a pivotal role in planetary science and exploration, where autonomous and reliable systems are crucial due to the risks and challenges inherent to space environments…
Escaping The Big Data Paradigm in Self-Supervised Representation Learning
Carlos Vélez García, Miguel Cazorla, Jorge Pomares
The reliance on large-scale datasets and extensive computational resources has become a major barrier to advancing representation learning in vision, especially in data-scarce doma…