Author

Akansel Cosgun

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Preprint Sep 2026

Hybrid Residual Reinforcement Learning for Contact-Rich Robotic Book Insertion

Placing a grasped book into a tight shelf is a compact but difficult contact-rich control problem: millimetre-scale pose error can turn a geometrically valid approach into jamming, failed release, or incomplete seating. We study this final phase after grasp acquisition and global approach, and ask how control authority...

Tian-Yuan Liu, R. Patamia, Benjamin T. Champion et al. · 0 citations

Preprint Sep 2026

Execution-Aware Pre-Execution Ranking for Grasp-Conditioned Robotic Placement

Frozen transfer to xArm7/MoveIt requires no xArm-specific retraining and candidate-level deployment-feasibility prediction reaches 81.25% recall, 85.20% specificity, and 83.23% balanced accuracy.

Tian-Yuan Liu, Rutherford Agbeshi Patamia, Benjamin T. Champion et al. · 0 citations