Author

Maxim Likhachev

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Open access Jul 2026

Embodying Multi-Hand Manipulation Policies by Searching the Assignment and Null Spaces

This work proposes a search-based framework that is theoretically complete for grounding policy-generated multi-hand trajectories onto physical multi-arm systems, and explicitly searches over both the discrete assignment of trajectories to arms and the continuous Jacobian null spaces of redundant manipulators.

Yorai Shaoul, Jiao-Yang Li, Maxim Likhachev · Proceedings of the Internati... · 0 citations

Open access Aug 2026

Parallel Heuristic Search as Inference for Actor-Critic Reinforcement Learning Models (Extended Abstract)

Actor-critic models are a class of model-free deep reinforcement learning (RL) algorithms that have demonstrated effectiveness across various robot learning tasks. While considerable research has focused on improving training stability and data sampling efficiency, most deployment strategies have remained relatively si...

Itamar Mishani, Hanlan Yang, Luca Pivetti et al. · Proceedings of the Internati... · 0 citations