3 papers
cs.LG2026
Learning to Race in Minutes: Infoprop Dyna on the Mini Wheelbot
Devdutt Subhasish, Henrik Hose, Sebastian Trimpe
Reinforcement Learning (RL) has the potential to enable robots with fast, nonlinear, and unstable dynamics to reach the limits of their performance. However, most recent advances r…
cs.LG2026
Dyna-Style Safety Augmented Reinforcement Learning: Staying Safe in the Face of Uncertainty
Artur Eisele, Bernd Frauenknecht, Friedrich Solowjow +1
Safety remains an open problem in reinforcement learning (RL), especially during training. While safety filters are promising to address safe exploration, they are generally poorly…
cs.RO2025
CHEQ-ing the Box: Safe Variable Impedance Learning for Robotic Polishing
Emma Cramer, Lukas Jäschke, Sebastian Trimpe
Robotic systems are increasingly employed for industrial automation, with contact-rich tasks like polishing requiring dexterity and compliant behaviour. These tasks are difficult t…