Cover Image

Physics-informed Goal-Conditioned Reinforcement Learning under Hybrid Contact Dynamics

Fuente: arXiv

Saved in:

Bibliographic Details
Main Authors:	Giammarino, Vittorio, Manganaris, Anastasios, Qureshi, Ahmed H.
Format:	Preprint
Published:	2026
Subjects:	Robotics Systems and Control Machine Learning
Online Access:	Acceder al recurso
Tags:	Add Tag No Tags, Be the first to tag this record!

Similar Items

Goal Reaching with Eikonal-Constrained Hierarchical Quasimetric Reinforcement Learning
by: Giammarino, Vittorio, et al.
Published: (2025)

Automaton Constrained Q-Learning
by: Manganaris, Anastasios, et al.
Published: (2025)

Physics-informed Value Learner for Offline Goal-Conditioned Reinforcement Learning
by: Giammarino, Vittorio, et al.
Published: (2025)

Formal Methods in Robot Policy Learning and Verification: A Survey on Current Techniques and Future Directions
by: Manganaris, Anastasios, et al.
Published: (2026)

Robust Point Cloud Reinforcement Learning via PCA-Based Canonicalization
by: Bezick, Michael, et al.
Published: (2025)

CoCo-InEKF: State Estimation with Learned Contact Covariances in Dynamic, Contact-Rich Scenarios
by: Baumgartner, Michael, et al.
Published: (2026)

Adversarial Imitation Learning from Visual Observations using Latent Information
by: Giammarino, Vittorio, et al.
Published: (2023)

Provably Optimal Reinforcement Learning under Safety Filtering
by: Oh, Donggeon David, et al.
Published: (2025)

Domain-decoupled Physics-informed Neural Networks with Closed-form Gradients for Fast Model Learning of Dynamical Systems
by: Krauss, Henrik, et al.
Published: (2024)

Goal-Conditioned Terminal Value Estimation for Real-time and Multi-task Model Predictive Control
by: Morita, Mitsuki, et al.
Published: (2024)

Realistic Counterfactual Explanations for Machine Learning-Controlled Mobile Robots using 2D LiDAR
by: Remman, Sindre Benjamin, et al.
Published: (2025)

Adaptive Torque Control of Exoskeletons under Spasticity Conditions via Reinforcement Learning
by: Chavarrías, Andrés, et al.
Published: (2025)

Constraint-Aware Reinforcement Learning via Adaptive Action Scaling
by: Dawood, Murad, et al.
Published: (2025)

A Robust Task-Level Control Architecture for Learned Dynamical Systems
by: Pathak, Eshika, et al.
Published: (2025)

Learning Dynamics under Environmental Constraints via Measurement-Induced Bundle Structures
by: Zheng, Dongzhe, et al.
Published: (2025)

Model-Free versus Model-Based Reinforcement Learning for Fixed-Wing UAV Attitude Control Under Varying Wind Conditions
by: Olivares, David, et al.
Published: (2024)

Actor-Critic Physics-informed Neural Lyapunov Control
by: Wang, Jiarui, et al.
Published: (2024)

Explore the Context: Optimal Data Collection for Context-Conditional Dynamics Models
by: Achterhold, Jan, et al.
Published: (2021)

Safe Reinforcement Learning with Minimal Supervision
by: Quessy, Alexander, et al.
Published: (2025)

Learning Coverage Paths in Unknown Environments with Deep Reinforcement Learning
by: Jonnarth, Arvi, et al.
Published: (2023)

Active Alignments of Lens Systems with Reinforcement Learning
by: Burkhardt, Matthias, et al.
Published: (2025)

Off Policy Lyapunov Stability in Reinforcement Learning
by: Gill, Sarvan, et al.
Published: (2025)

Learning Local Control Barrier Functions for Hybrid Systems
by: Yang, Shuo, et al.
Published: (2024)

Design and Implementation of a Dual Uncrewed Surface Vessel Platform for Bathymetry Research under High-flow Conditions
by: Kumar, Dinesh, et al.
Published: (2025)

Physics-Driven Data Generation for Contact-Rich Manipulation via Trajectory Optimization
by: Yang, Lujie, et al.
Published: (2025)

Hamilton-Jacobi Reachability in Reinforcement Learning: A Survey
by: Ganai, Milan, et al.
Published: (2024)

Computationally Efficient RL under Linear Bellman Completeness for Deterministic Dynamics
by: Wu, Runzhe, et al.
Published: (2024)

Adaptive Gain Scheduling using Reinforcement Learning for Quadcopter Control
by: Timmerman, Mike, et al.
Published: (2024)

LAPP: Large Language Model Feedback for Preference-Driven Reinforcement Learning
by: Jian, Pingcheng, et al.
Published: (2025)

Deep Reinforcement Learning with Enhanced PPO for Safe Mobile Robot Navigation
by: Taheri, Hamid, et al.
Published: (2024)

Optimization of the Model Predictive Control Meta-Parameters Through Reinforcement Learning
by: Bøhn, Eivind, et al.
Published: (2021)

Training Verifiably Robust Agents Using Set-Based Reinforcement Learning
by: Wendl, Manuel, et al.
Published: (2024)

End-to-End Reinforcement Learning for Torque Based Variable Height Hopping
by: Soni, Raghav, et al.
Published: (2023)

Deep Reinforcement Learning for Time-Critical Wilderness Search And Rescue Using Drones
by: Ewers, Jan-Hendrik, et al.
Published: (2024)

MPC-Inspired Reinforcement Learning for Verifiable Model-Free Control
by: Lu, Yiwen, et al.
Published: (2023)

SARAD: LLM-Based Safety-Aware Hybrid Reinforcement Learning with Collision Prediction for Autonomous Driving
by: Wu, Kangyu, et al.
Published: (2026)

Learning Hamiltonian Dynamics with Bayesian Data Assimilation
by: Kim, Taehyeun, et al.
Published: (2025)

Priority-Driven Control and Communication in Decentralized Multi-Agent Systems via Reinforcement Learning
by: Guo, Qingyun, et al.
Published: (2026)

ReinVBC: A Model-based Reinforcement Learning Approach to Vehicle Braking Controller
by: Lin, Haoxin, et al.
Published: (2026)

Exploiting Symmetry in Dynamics for Model-Based Reinforcement Learning with Asymmetric Rewards
by: Sonmez, Yasin, et al.
Published: (2024)