3 papers
cs.RO2026
Exploring the Intrinsic Geometry of Diffusion Models with Constrained Inverse Kinematics
Miguel Angel Rogel Garcia, Phone Thiha Kyaw, Jonathan Kelly
Recent studies suggest that diffusion models can recover geometric structure in the data manifolds they are trained on, yet the supporting evidence has so far come mostly from natu…
cs.LG2025
Residual Reward Models: Leveraging Prior Knowledge for Efficient Preference-based Reinforcement Learning in Robotics
Chenyang Cao, Miguel Rogel-García, Mohamed Nabail +2
Preference-based Reinforcement Learning (PbRL) provides a promising alternative to heuristic reward design in complex robotic environments. However, PbRL often suffers from poor sa…
cs.RO2024
Automated Continuous Force-Torque Sensor Bias Estimation
Philippe Nadeau, Miguel Rogel Garcia, Emmett Wise +1
Six axis force-torque sensors are commonly attached to the wrist of serial robots to measure the external forces and torques acting on the robot's end-effector. These measurements…