3 papers
cs.RO2026
WOLF-VLA: Whole-Body Humanoid Optimal Locomotion Framework for Vision-Language-Action Learning
Melya Boukheddimi, Omar Adjali, Daniel Sontag +1
Vision-Language-Action (VLA) models have recently demonstrated strong generalization in robotic manipulation, yet their applicability to whole-body, contact-rich humanoid locomotio…
cs.RO2025
Evolutionary Continuous Adaptive RL-Powered Co-Design for Humanoid Chin-Up Performance
Tianyi Jin, Melya Boukheddimi, Rohit Kumar +2
Humanoid robots have seen significant advancements in both design and control, with a growing emphasis on integrating these aspects to enhance overall performance. Traditionally, r…
cs.RO2025
Unlocking the Potential of Soft Actor-Critic for Imitation Learning
Nayari Marie Lessa, Melya Boukheddimi, Frank Kirchner
Learning-based methods have enabled robots to acquire bio-inspired movements with increasing levels of naturalness and adaptability. Among these, Imitation Learning (IL) has proven…