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cs.RO2026
Predictive Style Matching: Natural and Robust Humanoid Locomotion
Simeon Nedelchev, Ekaterina Chaikovskaia, Egor Davydenko +2
Reinforcement learning has become the prevailing approach to humanoid locomotion control: policies transfer reliably from simulation to hardware and recover gracefully from disturb…
cs.RO2026
Trajectory-based actuator identification via differentiable simulation
Vyacheslav Kovalev, Ekaterina Chaikovskaia, Egor Davydenko +1
Accurate actuation models are critical for bridging the gap between simulation and real robot behavior, yet obtaining high-fidelity actuator dynamics typically requires dedicated t…