2 papers
cs.RO2025
TOCALib: Optimal control library with interpolation for bimanual manipulation and obstacles avoidance
Yulia Danik, Dmitry Makarov, Aleksandra Arkhipova +2
The paper presents a new approach for constructing a library of optimal trajectories for two robotic manipulators, Two-Arm Optimal Control and Avoidance Library (TOCALib). The opti…
cs.RO2023
Benchmarking the Full-Order Model Optimization Based Imitation in the Humanoid Robot Reinforcement Learning Walk
Ekaterina Chaikovskaya, Inna Minashina, Vladimir Litvinenko +4
When a gait of a bipedal robot is developed using deep reinforcement learning, reference trajectories may or may not be used. Each approach has its advantages and disadvantages, an…