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cs.RO2025
Evolutionary Continuous Adaptive RL-Powered Co-Design for Humanoid Chin-Up Performance
Tianyi Jin, Melya Boukheddimi, Rohit Kumar +2
Humanoid robots have seen significant advancements in both design and control, with a growing emphasis on integrating these aspects to enhance overall performance. Traditionally, r…
cs.RO2025
Unlocking the Potential of Soft Actor-Critic for Imitation Learning
Nayari Marie Lessa, Melya Boukheddimi, Frank Kirchner
Learning-based methods have enabled robots to acquire bio-inspired movements with increasing levels of naturalness and adaptability. Among these, Imitation Learning (IL) has proven…
cs.RO2025
Parallel Transmission Aware Co-Design: Enhancing Manipulator Performance Through Actuation-Space Optimization
Rohit Kumar, Melya Boukheddimi, Dennis Mronga +2
In robotics, structural design and behavior optimization have long been considered separate processes, resulting in the development of systems with limited capabilities. Recently,…