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cs.RO2026
SynIL: Leveraging Synergy for Offline Imitation Learning from Imperfect Demonstration Datasets
Yuto Tanaka, Kyo Kutsuzawa, Martina Doku +2
Imitation learning enables robots to acquire complex skills directly from massive demonstration datasets, but its performance degrades severely when datasets are contaminated with…
cs.RO2026
LAC: Linear and Angular Compliance for Humanoid Whole-body Control
Yang Liu, Zhongkai Gu, Wei Zhu +1
Real-world humanoid tasks involve physical interaction with objects and humans, yet current controllers either reject external forces as disturbances or restrict compliance to limi…
cs.RO2026
TRAIN: Terrain-Aware Interactive Navigation for Quadruped Robots via Reinforcement Learning
Wei Zhu, Irfan Tito Kurniawan, Ye Zhao +1
This study introduces TRAIN: TeRrain-Aware Interactive Navigation, a deep reinforcement learning (DRL)-based framework for quadrupedal navigation across unstructured terrain and hu…