2 papers
cs.RO2026
Closing the Motion Execution Gap: From Semantic Motion Task Constraints to Kinematic Control
Simon Stelter, Vanessa Hassouna, Malte Huerkamp +1
This paper addresses the Motion Execution Gap, the disconnect between high-level symbolic task descriptions using semantic constraints and executable robot motions. Motion Statecha…
cs.RO2026
The Law of Task-Achieving Body Motion: Axiomatizing Success of Robot Manipulation Actions
Malte Huerkamp, Jonas Dech, Michael Beetz
Autonomous agents that perform everyday manipulation actions need to ensure that their body motions are semantically correct with respect to a task request, causally effective with…