4 papers
Contact-Safe Reinforcement Learning with ProMP Reparameterization and Energy Awareness
Bingkun Huang, Yuhe Gong, Zewen Yang +2
Reinforcement learning (RL) approaches based on Markov Decision Processes (MDPs) are predominantly applied in the robot joint space, often relying on limited task-specific informat…
Learning a Shape-adaptive Assist-as-needed Rehabilitation Policy from Therapist-informed Input
Zhimin Hou, Jiacheng Hou, Xiao Chen +3
Therapist-in-the-loop robotic rehabilitation has shown great promise in enhancing rehabilitation outcomes by integrating the strengths of therapists and robotic systems. However, i…
A Learning-Based Framework for Collision-Free Motion Planning
Mateus Salomão, Tianyü Ren, Alexander König
This paper presents a learning-based extension to a Circular Field (CF)-based motion planner for efficient, collision-free trajectory generation in cluttered environments. The prop…
KunPeng: A Global Ocean Environmental Model
Yi Zhao, Jiaqi Li, Haitao Xia +7
Inspired by the similarity of the atmosphere-ocean physical coupling mechanism, this study innovatively migrates meteorological large-model techniques to the ocean domain, construc…