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cs.RO2026
GR2PO: Group Relative Return Policy Optimization for Continuous Robot Control
Pengqin Wang, Qiming Zhang, Shaojie Shen +1
Actor-critic architecture has been widely used in continuous robot control. However, they rely on learning a value network, introducing additional computational overhead during tra…
cs.RO2026
TacSE3: Equivariant SE(3) Motion Estimation from Low-Texture Visuotactile Images for In-Gripper Tracking and Compensation
Zhongyuan Liao, Junzhe Wang, Qingyang Liu +6
Robotic in-hand manipulation requires reliable object-motion tracking under frequent visual occlusion, yet low-texture visuotactile images provide few stable correspondences for co…
cs.RO2026
Design of an In-Pipe Robot with Contact-Angle-Guided Kinematic Decoupling for Crosstalk-Suppressed Locomotion
Min Yang, Yang Tian, Longchuang Li +2
In-pipe inspection robots must traverse confined pipeline networks with elbows and three-dimensional fittings, requiring both reliable axial traction and rapid rolling reorientatio…