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cs.RO2026
iGPC: Generative Motion Priors for Object-Aware Humanoid Interaction
Anujith Muraleedharan, Abdul Ahad Butt, Nolan Fey +5
Humanoid robots operating in unstructured environments must combine robust whole-body control with the ability to perceive and physically interact with surrounding objects. While l…
cs.RO2025
U-LAG: Uncertainty-Aware, Lag-Adaptive Goal Retargeting for Robotic Manipulation
Anamika J H, Anujith Muraleedharan
Robots manipulating in changing environments must act on percepts that are late, noisy, or stale. We present U-LAG, a mid-execution goal-retargeting layer that leaves the low-level…
cs.RO2025
Selective Progress-Aware Querying for Human-in-the-Loop Reinforcement Learning
Anujith Muraleedharan, Anamika J H
Human feedback can greatly accelerate robot learning, but in real-world settings, such feedback is costly and limited. Existing human-in-the-loop reinforcement learning (HiL-RL) me…