2 papers
cs.RO2026
Tune to Learn: How Controller Gains Shape Robot Policy Learning
Antonia Bronars, Younghyo Park, Pulkit Agrawal
Position controllers have become the dominant interface for executing learned manipulation policies. Yet a critical design decision remains understudied: how should we choose contr…
cs.RO2024
Autonomous Robotic Assembly: From Part Singulation to Precise Assembly
Kei Ota, Devesh K. Jha, Siddarth Jain +5
Imagine a robot that can assemble a functional product from the individual parts presented in any configuration to the robot. Designing such a robotic system is a complex problem w…