Author

Gokhan Solak

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#artificial intelligence Preprint Oct 2026

Graph-Based Recognition of Simulated Train-Driver States From Facial and Upper-Body Keypoints

Driver fatigue poses a significant challenge to railway safety, with traditional systems like the dead-man switch offering limited and basic alertness checks. This study presents a vision-based monitoring system that relies solely on a single front-facing RGB camera and a graph neural network to classify simulated trai...

Olivia Nocentini, Marta Lagomarsino, Gokhan Solak et al. · 0 citations

Preprint Sep 2026

FORTE: Task-Adaptive Force Capability Optimization for Mobile Manipulators

Effective physical interaction control in robotic manipulation requires not only kinematically feasible motion but also sufficient force-interaction capability. Existing redundancy resolution methods often ignore task-specific force demands or maximize the force capability indiscriminately, sacrificing dexterity when l...

Xiao Wang, Heng Zhang, Gokhan Solak et al. · 0 citations

#artificial intelligence Preprint Sep 2026

Potential-Field Action Representation for Reinforcement Learning in Contact-Rich Manipulation

PA-RL, a reinforcement-learning framework that uses artificial potential fields as the action representation, is proposed and is the only method to reach a 100% evaluation success rate within the allotted training time, while the best baseline reaches 92.6%.

Xin-Yu Liu, Gokhan Solak, Arash Ajoudani · 0 citations