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cs.RO2026
Heracles: Bridging Precise Tracking and Generative Synthesis for General Humanoid Control
Zelin Tao, Zeran Su, Peiran Liu +13
Achieving general-purpose humanoid control requires a delicate balance between the precise execution of commanded motions and the flexible, anthropomorphic adaptability needed to r…
cs.RO2026
DRIFT: Diffusion-based Rule-Inferred For Trajectories
Jinyang Zhao, Handong Zheng, Yanjiu Zhong +3
Trajectory generation for mobile robots in unstructured environments faces a critical dilemma: balancing kinematic smoothness for safe execution with terminal precision for fine-gr…