3 papers
cs.RO2026
Efficient Real-World Online Reinforcement Learning for Robot Manipulation via Centralized Training and Critic Decomposition
Changhao Li, Yifang Zhang, Heng Zhang +6
Real-world online reinforcement learning (RL) provides a promising approach for training robotic manipulation policies directly in the physical world, avoiding the sim-to-real gap…
cs.RO2026
KYON: Semi-Modular Wheel-Legged Quadruped With Agile Bimanual Capability
Luca Rossini, Arturo Laurenzi, Francesco Ruscelli +8
This paper presents KYON, a hybrid wheel-legged quadruped robot equipped with a bimanual upper body for loco-manipulation tasks. The platform features a semi-modular design with a…
cs.RO2025
Exo-muscle: A semi-rigid assistive device for the knee
Yifang Zhang, Arash Ajoudani, Nikos G Tsagarakis
In this work, we introduce the principle, design and mechatronics of Exo-Muscle, a novel assistive device for the knee joint. Different from the existing systems based on rigid exo…