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cs.RO2026
Knowledge-Guided Manipulation Using Multi-Task Reinforcement Learning
Aditya Narendra, Mukhammadrizo Maribjonov, Dmitry Makarov +2
This paper introduces Knowledge Graph based Massively Multi-task Model-based Policy Optimization (KG-M3PO), a framework for multi-task robotic manipulation in partially observable…
cs.RO2026
Dynamic Neural Potential Field: Online Trajectory Optimization in the Presence of Moving Obstacles
Aleksei Staroverov, Muhammad Alhaddad, Aditya Narendra +2
Generalist robot policies must operate safely and reliably in everyday human environments such as homes, offices, and warehouses, where people and objects move unpredictably. We pr…
cs.RO2025
Mind and Motion Aligned: A Joint Evaluation IsaacSim Benchmark for Task Planning and Low-Level Policies in Mobile Manipulation
Nikita Kachaev, Andrei Spiridonov, Andrey Gorodetsky +8
Benchmarks are crucial for evaluating progress in robotics and embodied AI. However, a significant gap exists between benchmarks designed for high-level language instruction follow…