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cs.RO2026
ContractionPPO: Certified Reinforcement Learning via Differentiable Contraction Layers
Vrushabh Zinage, Narek Harutyunyan, Eric Verheyden +2
Legged locomotion in unstructured environments demands not only high-performance control policies but also formal guarantees to ensure robustness under perturbations. Control metho…
cs.RO2025
A Counterfactual Reasoning Framework for Fault Diagnosis in Robot Perception Systems
Haeyoon Han, Mahdi Taheri, Soon-Jo Chung +1
Perception systems provide a rich understanding of the environment for autonomous systems, shaping decisions in all downstream modules. Hence, accurate detection and isolation of f…