2 papers
cs.RO2026
STEAM: Self-Supervised Temporal Ensemble Advantage Modeling for Real-World Robot Learning
Zhihao Liu, Qiuyi Gu, Yitao Wang +16
Real-world robot learning increasingly relies on heterogeneous data, but demonstrations and rollouts often mix useful progress with stalls, corrections, and suboptimal behavior. Ef…
cs.RO2026
OMG: Omni-Modal Motion Generation for Generalist Humanoid Control
Siqiao Huang, Kun-Ying Lee, Dongming Qiao +5
Humanoid whole-body control has made significant progress in recent years, yet existing approaches remain limited to few-skill policies with heavy reward engineering, or motion tra…