Showing cs.ROShow all
3 papers · 1 filter
cs.RO2026
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…
cs.RO2025
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…
cs.RO2025
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…