3 papers
cs.RO2026
Gripper-aware Vision Language Action Models
Hanyi Zhang, Zihong Luo, Tianyu Li +16
Vision language action models (VLAs) have advanced general purpose robotic grasping and manipulation by enabling robots to interpret visual observations and natural language instru…
math.OC2025
Closed Form HJB Solution for Continuous-Time Optimal Control of a Non-Linear Input-Affine System
Akash Vyas, Shreyas Kumar, Jayant Kumar Mohanta +1
Designing optimal controllers for nonlinear dynamical systems often relies on reinforcement learning and adaptive dynamic programming (ADP) to approximate solutions of the Hamilton…
cs.RO2025
Safe and Optimal Variable Impedance Control via Certified Reinforcement Learning
Shreyas Kumar, Ravi Prakash
Reinforcement learning (RL) offers a powerful approach for robots to learn complex, collaborative skills by combining Dynamic Movement Primitives (DMPs) for motion and Variable Imp…