3 papers
cs.RO2026
Deformable Object Manipulation under Partial Observability via Real-Time Full-Shape Estimation
Kosar Behnia, Ville Kyrki, Gokhan Alcan
Manipulating deformable objects (DOs) is challenging due to their high-dimensional state space, underactuated dynamics, and partial observability. In this paper, we propose cRVAE,…
eess.SY2026
Actor-Identifier-Critic Reinforcement Learning for Adaptive Model-Free Optimal Control of Nonlinear Systems with Stochastic Packet Dropouts
Kianoush Aqabakee, Kosar Behnia, Amirhossein Heydarian Ardakani +2
Packet dropouts in control systems poses a critical challenge, as it can significantly compromise system performance and stability. In these conditions, classical controllers often…
eess.SY2025
Online Detection and Mitigation of Robust Zero Dynamics Anomaly Behavior in MIMO Nonlinear Control Systems
Kosar Behnia, H. A. Talebi, Farzaneh Abdollahi
This paper presents a methodology to detect robust zero dynamics anomaly behavior and mitigate the impacts in general multi-input multi-output (MIMO) nonlinear systems. The propose…