Hanjaya Mandala — accepted AI-conference papers

2026

Feasibility-Guided Planning Over Multi-Specialized Locomotion Policies

Ying-Sheng Luo, Lu-Ching Wang, Hanjaya Mandala, Yu-Lun Chou, Guilherme Henrique Galelli Christmann, Yu-Chung Chen +3

ICRA 2026poster

Planning over unstructured terrain presents a significant challenge in the field of legged robotics. Although recent works in reinforcement learning have yielded various locomotion strategies, planning over multiple experts remains a complex issue. Existing approaches encounter several constraints: …

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2024

Benchmarking Smoothness and Reducing High-Frequency Oscillations in Continuous Control Policies

Guilherme Christmann, Ying-Sheng Luo, Hanjaya Mandala, Wei-Chao Chen

IROS 2024poster

Reinforcement learning (RL) policies are prone to high-frequency oscillations, especially undesirable when deploying to hardware in the real-world. In this paper, we identify, categorize, and compare methods from the literature that aim to mitigate high-frequency oscillations in deep RL. We define t…

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