Author

Richard Dazeley

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Preprint Sep 2026

Hybrid Residual Reinforcement Learning for Contact-Rich Robotic Book Insertion

The method retains a nominal task-space controller for structured insertion and seating, while residual PPO supplies bounded local corrections and decides when to release and supports a hybrid design in which geometry preserves reliable task structure and learning is concentrated on the contact-sensitive behaviour that...

Tian-Yuan Liu, R. Patamia, Benjamin T. Champion et al. · 0 citations

Preprint Sep 2026

Execution-Aware Pre-Execution Ranking for Grasp-Conditioned Robotic Placement

Frozen transfer to xArm7/MoveIt requires no xArm-specific retraining and candidate-level deployment-feasibility prediction reaches 81.25% recall, 85.20% specificity, and 83.23% balanced accuracy.

Tian-Yuan Liu, Rutherford Agbeshi Patamia, Benjamin T. Champion et al. · 0 citations

Preprint Jul 2026

OOD-RL-Bench: A Benchmark Framework for Out-of-Distribution Detection in Reinforcement Learning

This work presents OOD-RL-Bench, a comprehensive and extensible framework designed to evaluate OOD detectors against categories of anomalies injected into RL trajectories, and makes the framework, trained policy checkpoint, and complete results publicly available as a reproducible artefact.

E. Mittag, Richard Dazeley, P. Vamplew · 0 citations