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cs.RO2026
CWI: Composite Humanoid Whole-Body Imitation System for Loco-manipulation
Wenqi Ge, Junde Guo, Zhen Fu +3
Achieving everyday tasks with humanoid robots requires coordinating stable locomotion with versatile manipulation. However, existing whole-body controllers still face significant c…
cs.LG2026
Diffusion Policy through Conditional Proximal Policy Optimization
Ben Liu, Shunpeng Yang, Hua Chen
Reinforcement learning (RL) has been extensively employed in a wide range of decision-making problems, such as games and robotics. Recently, diffusion policies have shown strong po…
cs.LG2026
PolicyFlow: Policy Optimization with Continuous Normalizing Flow in Reinforcement Learning
Shunpeng Yang, Ben Liu, Hua Chen
Among on-policy reinforcement learning algorithms, Proximal Policy Optimization (PPO) demonstrates is widely favored for its simplicity, numerical stability, and strong empirical p…