4 papers · 1 filter
Goal Sets, Not Goal States: Queryable Robot Goals through Goal-Set Hindsight Relabeling
Carlos Vélez GarcÃa, Miguel Cazorla, Jorge Pomares
Hindsight relabeling usually turns achieved future states into exact goals, which can overconstrain offline robot learning when task success depends only on a subset of the state.…
Path Planning and Reinforcement Learning-Driven Control of On-Orbit Free-Flying Multi-Arm Robots
Ãlvaro Belmonte-Baeza, José Luis Ramón, Leonard Felicetti +2
This paper presents a hybrid approach that integrates trajectory optimization (TO) and reinforcement learning (RL) for motion planning and control of free-flying multi-arm robots i…
Planning as Descent: Goal-Conditioned Latent Trajectory Synthesis in Learned Energy Landscapes
Carlos Vélez GarcÃa, Miguel Cazorla, Jorge Pomares
We present Planning as Descent (PaD), a framework for offline goal-conditioned reinforcement learning that grounds trajectory synthesis in verification. Instead of learning a polic…
Autonomous Legged Mobile Manipulation for Lunar Surface Operations via Constrained Reinforcement Learning
Alvaro Belmonte-Baeza, Miguel Cazorla, Gabriel J. GarcÃa +2
Robotics plays a pivotal role in planetary science and exploration, where autonomous and reliable systems are crucial due to the risks and challenges inherent to space environments…