3 papers
cs.RO2024
A Dynamic Safety Shield for Safe and Efficient Reinforcement Learning of Navigation Tasks
Murad Dawood, Ahmed Shokry, Maren Bennewitz
Reinforcement learning (RL) has been successfully applied to a variety of robotics applications, where it outperforms classical methods. However, the safety aspect of RL and the tr…
cs.RO2024
Context-Based Meta Reinforcement Learning for Robust and Adaptable Peg-in-Hole Assembly Tasks
Ahmed Shokry, Walid Gomaa, Tobias Zaenker +5
Autonomous assembly is an essential capability for industrial and service robots, with Peg-in-Hole (PiH) insertion being one of the core tasks. However, PiH assembly in unknown env…
cs.RO2024
Physically-Consistent Parameter Identification of Robots in Contact
Shahram Khorshidi, Murad Dawood, Benno Nederkorn +2
Accurate inertial parameter identification is crucial for the simulation and control of robots encountering intermittent contact with the environment. Classically, robots' inertial…