2 papers
cs.RO2026
Global-Local Attention Decomposition for Terrain Encoding in Humanoid Perceptive Locomotion
Shengcheng Fu, Yang Zhang, Zhanxiang Cao +4
Although reinforcement learning has significantly advanced humanoid locomotion, perceptive policies still struggle on sparse-foothold terrain and constrained environments. Success…
cs.RO2026
Robust and Generalized Humanoid Motion Tracking
Yubiao Ma, Han Yu, Jiayin Xie +7
Learning a general humanoid whole-body controller is challenging because practical reference motions can exhibit noise and inconsistencies after being transferred to the robot doma…