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cs.RO2026
Learning Contact Dynamics through Touching: Action-conditional Graph Neural Networks for Robotic Peg Insertion
Zongyao Yi, Joachim Hertzberg, Martin Atzmueller
We present a learnable physics-based predictive model that provides accurate motion and force-torque prediction of the robot end effector in contact-rich manipulation. The proposed…
cs.RO2025
Uncertainty-Resilient Active Intention Recognition for Robotic Assistants
Juan Carlos SaborÃo, Marc Vinci, Oscar Lima +6
Purposeful behavior in robotic assistants requires the integration of multiple components and technological advances. Often, the problem is reduced to recognizing explicit prompts,…
cs.RO2025
Acting and Planning with Hierarchical Operational Models on a Mobile Robot: A Study with RAE+UPOM
Oscar Lima, Marc Vinci, Sunandita Patra +6
Robotic task execution faces challenges due to the inconsistency between symbolic planner models and the rich control structures actually running on the robot. In this paper, we pr…