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Author

Gokhan Solak

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2 papers indexed here

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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

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