3 papers
cs.RO2025
MoRe-ERL: Learning Motion Residuals using Episodic Reinforcement Learning
Xi Huang, Hongyi Zhou, Ge Li +5
We propose MoRe-ERL, a framework that combines Episodic Reinforcement Learning (ERL) and residual learning, which refines preplanned reference trajectories into safe, feasible, and…
cs.RO2024
Planning with Learned Subgoals Selected by Temporal Information
Xi Huang, Gergely Sóti, Christoph Ledermann +2
Path planning in a changing environment is a challenging task in robotics, as moving objects impose time-dependent constraints. Recent planning methods primarily focus on the spati…
cs.RO2024
dGrasp: NeRF-Informed Implicit Grasp Policies with Supervised Optimization Slopes
Gergely Sóti, Xi Huang, Christian Wurll +1
We present dGrasp, an implicit grasp policy with an enhanced optimization landscape. This landscape is defined by a NeRF-informed grasp value function. The neural network represent…