3 papers
cs.RO2026
Energy-Efficient Arm Reaching for a Humanoid Robot via Deep Reinforcement Learning with Identified Power Models
Nestor N. Deniz, Simon Parsons, Fernando Auat Cheein
Humanoid robots performing in-field manipulation tasks, such as robotic apple harvesting, face severe energy constraints that directly limit the number of reaching motions that can…
cs.RO2026
Identification of a Physics-Based Electrical Power Consumption Model for the Unitree G1 Humanoid Arm
Nestor N. Deniz, Sebastian Vega, Simon Parsons +1
Accurate prediction of electrical power consumption is essential for energy-aware motion planning, battery management, and thermal monitoring in battery-powered humanoid robots. Th…
cs.RO2026
Outlier-Robust Nonlinear Moving Horizon Estimation using Adaptive Loss Functions
Nestor Deniz, Guido Sanchez, Fernando Auat Cheein +1
In this work, we propose an adaptive robust loss function framework for MHE, integrating an adaptive robust loss function to reduce the impact of outliers with a regularization ter…