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cs.RO2026
CSymPlan: Certified Symbolic Planning and Control for High-DOF Manipulators
Aditya Narendra, Ashok Kumar Saini, Mahathi Anand +3
Robot manipulators are commonly engineered around a decoupled motion-generation stack: a planner computes a collision-free path and a lower-level controller tracks the resulting re…
cs.RO2026
Knowledge-Guided Manipulation Using Multi-Task Reinforcement Learning
Aditya Narendra, Mukhammadrizo Maribjonov, Dmitry Makarov +2
This paper introduces Knowledge Graph based Massively Multi-task Model-based Policy Optimization (KG-M3PO), a framework for multi-task robotic manipulation in partially observable…