2 papers
cs.LG2026
Reachability-Aware Diffusion Policy Optimization
Hikmet Simsir, Kutay Demiray, Ozgur S. Oguz
Diffusion policies provide expressive action distributions for continuous-control reinforcement learning. However, safety-aware online diffusion policy optimization remains underex…
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…