Author

Floris Erich

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Preprint Sep 2026

Peg-in-Bench: A Modular Benchmark for High-Precision Robotic Insertion

High-precision insertion remains a fundamental challenge in robotic manipulation due to the strict alignment requirements and contact-rich interactions involved. Although peg-in-hole tasks are widely used for evaluation, existing bench- marks often rely on fixed task configurations, limiting their ability to assess rob...

Y. Delgado, José G. Buenaventura-Carreón, Floris Erich et al. · 0 citations

Preprint Sep 2026

Non-Prehensile Throwing: A Reinforcement Learning Perspective

This work proposes a reinforcement learning approach that additionally leverages sliding and rolling contact modes and directly optimizes joint-space trajectories without analytical contact models or custom parameterizations, and minimize the robot-dynamics gap through minimum-jerk system identification and train uncer...

Abdullah Mustafa, Ryo Hanai, I. Ramirez-Alpizar et al. · 0 citations