3 papers
cs.RO2025
DISF: Disentangled Iterative Surface Fitting for Contact-stable Grasp Planning with Grasp Pose Alignment to the Object Center of Mass
Tomoya Yamanokuchi, Alberto Bacchin, Emilio Olivastri +3
In this work, we address the limitation of surface fitting-based grasp planning algorithm, which primarily focuses on geometric alignment between the gripper and object surface whi…
cs.RO2025
Disentangled Iterative Surface Fitting for Contact-stable Grasp Planning
Tomoya Yamanokuchi, Alberto Bacchin, Emilio Olivastri +2
In this work, we address the limitation of surface fitting-based grasp planning algorithm, which primarily focuses on geometric alignment between the gripper and object surface whi…
cs.LG2024
Weber-Fechner Law in Temporal Difference learning derived from Control as Inference
Keiichiro Takahashi, Taisuke Kobayashi, Tomoya Yamanokuchi +1
This paper investigates a novel nonlinear update rule based on temporal difference (TD) errors in reinforcement learning (RL). The update rule in the standard RL states that the TD…