THESIS Fard_THESIS_2026/IDIAP Feasibility-Guided Exploration and Adaptation for Constrained Robotic Manipulation Fard, Amirreza Razmjoo EXTERNAL https://publications.idiap.ch/attachments/papers/2026/Fard_THESIS_2026.pdf PUBLIC 2026 Ecole Polytechnique Fédérale de Lausanne