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cs.RO2026
Exploiting Hierarchical Controller Structure in Contextual Parameter Learning for Humanoid Loco-Manipulation
Sebastian Hirt, Lukas Theiner, Jan Peters +1
Hierarchical control architectures are widely used to decompose complex control problems into interacting control levels and are particularly important in robotics, where planning,…
cs.RO2026
SOCC-ICP: Semantics-Assisted Odometry based on Occupancy Grids and ICP
Johannes Scherer, Sebastian Hirt, Henri Meeß
Reliable pose estimation in previously unseen environments is a fundamental capability of autonomous systems. Existing LiDAR odometry methods typically employ point-, surfel-, or N…