3 papers
cs.RO2026
CoRAL: Contact-Rich Adaptive LLM-based Control for Robotic Manipulation
Berk Ãiçek, Mert K. Er, Ozgur S. Oguz
While Large Language Models (LLMs) and Vision-Language Models (VLMs) demonstrate remarkable capabilities in high-level reasoning and semantic understanding, applying them directly…
cs.RO2026
Interpretable Responsibility Sharing as a Heuristic for Task and Motion Planning
Arda Sarp Yenicesu, Sepehr Nourmohammadi, Berk Cicek +1
This article introduces a novel heuristic for Task and Motion Planning (TAMP) named Interpretable Responsibility Sharing (IRS), which enhances planning efficiency in domestic robot…
cs.RO2024
H-MaP: An Iterative and Hybrid Sequential Manipulation Planner
Berk Cicek, Arda Sarp Yenicesu, Cankut Bora Tuncer +2
This paper introduces H-MaP, a hybrid sequential manipulation planner that addresses complex tasks requiring both sequential actions and dynamic contact mode switches. Our approach…