{"paper":{"title":"DRL-Based Pose Control for Double-Ackermann Robots Under Actuation Uncertainties","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.AI"],"primary_cat":"cs.RO","authors_text":"Aly Magassouba, M\\'elodie Daniel, Miguel Aranda, Olivier Ly, Oussama Zaim","submitted_at":"2026-05-29T19:37:30Z","abstract_excerpt":"Robust deployment of deep reinforcement learning (DRL) policies on real robots remains challenging due to discrepancies between simulation and real-world dynamics. We address this issue in the context of maneuvering with double-Ackermann-steering mobile robots, which introduce additional constraints due to their non-holonomic nature. Building upon the DRL framework ManeuverNet, we extend its objective from position control to full pose control, resulting in a more challenging task. We further investigate the impact of actuation-related uncertainties on policy transfer. The use of simplified ac"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2606.00313","kind":"arxiv","version":1},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2606.00313/integrity.json","findings":[],"available":true,"detectors_run":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938"},"references":{"count":0,"sample":[],"resolved_work":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","internal_anchors":0},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"author_claims":{"count":0,"strong_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"builder_version":"pith-number-builder-2026-05-17-v1"}