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cs.RO2026
Affordance-Based Hierarchical Reinforcement Learning for Quadruped Pedipulation
Tuba Girgin, Jose Castelblanco, Gabriel Rodriguez +2
The object manipulation capabilities of quadruped robots is an open research challenge. While previous studies have focused on low-level policy learning, task execution still relie…
cs.RO2026
Learning Contact Representation for Leg Odometry
Emre Girgin, Cagri Kilic
Leg odometry relies on the assumption that the velocity of a foot in stance is zero with respect to the world, which makes accurate contact detection a critical subproblem. Many ap…
cs.RO2026
OCELOT: Odometry and Contact Estimation for Legged Robots
Emre Girgin, Cagri Kilic
One of the significant challenges in legged robotics is achieving accurate odometry using only onboard proprioceptive sensors. In this study, we present a complete leg odometry pip…