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cs.RO2025
Contact-Safe Reinforcement Learning with ProMP Reparameterization and Energy Awareness
Bingkun Huang, Yuhe Gong, Zewen Yang +2
Reinforcement learning (RL) approaches based on Markov Decision Processes (MDPs) are predominantly applied in the robot joint space, often relying on limited task-specific informat…
cs.RO2025
A Learning-Based Framework for Collision-Free Motion Planning
Mateus Salomão, Tianyü Ren, Alexander König
This paper presents a learning-based extension to a Circular Field (CF)-based motion planner for efficient, collision-free trajectory generation in cluttered environments. The prop…