Author

G. Torrente

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Jul 2026

Ace! Motion Planning of Professional-Level Table Tennis Serves with a Robot Arm

This work presents a novel approach for generating official rule-compliant serves by combining motion primitives, Model Predictive Control, and Bayesian Optimization, and offers a wide and controllable variation of spins of up to 550 rad/s, and speeds of up to 6.7 m/s, matching and even surpassing those of elite table...

G. Torrente, Guilherme J. Maeda, Divij Grover et al. · arXiv.org · 0 citations

Jul 2026

Bridging Reinforcement Learning and Optimal Control via Feasible Action Mapping

This work presents Feasible Action for Optimal Control (FAOC), a novel control framework integrating Reinforcement Learning (RL) and Optimal Control (OC), with a computationally efficient, optimization-based mapping algorithm that transforms the RL agent's action from a static abstract set into a state-dependent feasib...

Stefan Richter, Alberto Giammarino, G. Torrente et al. · arXiv.org · 0 citations