الباحثون

Abdeslam Boularias

المنشورات 2

نسخة أولية وصول مفتوح

Plan-Conditioned Imitation for Robust Object Retrieval under Self-Occlusion in Dense Clutter

Kowndinya Boyalakuntla, Ajinkya Pawar, Abdeslam Boularias وآخرون · 2026

Retrieving objects from dense clutter requires rearrangement during which the manipulator can occlude objects while moving them. Repeated arm withdrawals to restore visibility interrupt execution. We introduce TRACE, a plan-conditioned imitation framework for retrieval under self-occlusion. A single unoccluded observat …

نسخة أولية وصول مفتوح

Beyond Policy Alignment: Closing the Planning-Learning Loop for Robot Control with Learned World Models

Kowndinya Boyalakuntla, Yuhan Liu, Abdeslam Boularias · 2026

Planning with learned world models combines online trajectory optimization with learned value and policy functions for high-dimensional control. Because the planner determines the experience used for learning, while the learned critic and actor in turn score and propose future plans, planning and learning form a closed …

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