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cs.RO2026
LEAP: Learning Emergent Active Perception for Quadruped Navigation
Ü. Bora Gökbakan, Stéphane Caron, Philippe Souères
Active perception allows autonomous agents to select their viewpoints rather than passively process the viewpoints given to them, enabling them to target where to reduce uncertaint…
cs.RO2026
Koopman DCM: Unstable Eigenfunctions as Data-driven Representations for Legged Balancing
Stéphane Caron
In legged locomotion, divergent components of motion (DCMs) have emerged as characteristic states for balance control. They isolate the unstable mode of the dynamics but, in existi…