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cs.RO2026
Combined Constrained Sampling and Reinforcement Learning for Robotic Manipulation
Marc Toussaint, Cornelius V. Braun, Armand Jordana +5
Training non-prehensile manipulation policies in contact-rich settings is a core challenge in robotics. While Reinforcement Learning (RL) has demonstrated its strength in such sett…
cs.RO2025
Meta-Optimization and Program Search using Language Models for Task and Motion Planning
Denis Shcherba, Eckart Cobo-Briesewitz, Cornelius V. Braun +1
Intelligent interaction with the real world requires robotic agents to jointly reason over high-level plans and low-level controls. Task and motion planning (TAMP) addresses this b…
cs.RO2024
NLP Sampling: Combining MCMC and NLP Methods for Diverse Constrained Sampling
Marc Toussaint, Cornelius V. Braun, Joaquim Ortiz-Haro
Generating diverse samples under hard constraints is a core challenge in many areas. With this work we aim to provide an integrative view and framework to combine methods from the…