2 papers
cs.RO2026
A Visual Reinforcement Learning-Based Separate Primitive Policy for Peg-in-Hole Tasks
Zichun Xu, Zhaomin Wang, Yuntao Li +4
For peg-in-hole tasks, humans rely on binocular visual perception to locate the peg above the hole surface and then proceed with insertion. This paper draws insights from this beha…
cs.RO2026
KCFRC: Kinematic Collision-Aware Foothold Reachability Criteria for Legged Locomotion
Lei Ye, Haibo Gao, Huaiguang Yang +6
Legged robots face significant challenges in navigating complex environments, as they require precise real-time decisions for foothold selection and contact planning. While existin…