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cs.RO2026
Implicit Behavior Coordination from Sub-Task Demonstrations by Exploiting Overlap-Induced Multimodality
Ahmed Shokry, Usama Ahmed Siddiquie, Sicong Pan +1
Long-horizon robotic rearrangement is commonly formulated as a skill-sequencing problem, where distinct behaviors are explicitly represented and coordinated by a planner or high-le…
cs.RO2025
Constraint-Aware Reinforcement Learning via Adaptive Action Scaling
Murad Dawood, Usama Ahmed Siddiquie, Shahram Khorshidi +1
Safe reinforcement learning (RL) seeks to mitigate unsafe behaviors that arise from exploration during training by reducing constraint violations while maintaining task performance…