Author

I. Ramirez-Alpizar

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Open access 2026

Robust Instant Policy: Student’s-t-Based Trajectory Aggregation for Reliable In-Context Imitation Learning in Robot Manipulation

Imitation learning (IL) enables robots to acquire autonomous skills from human demonstrations. Recent in-context IL (ICIL) methods leverage off-the-shelf large language models (LLMs) as instant policies that infer task context and generate executable trajectories from only a few demonstrations, without retraining model...

Hanbit Oh, Andrea M. Salcedo-Vázquez, I. Ramirez-Alpizar et al. · IEEE Access · 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