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cs.RO2026
GCS-Bridging: Restoring Connectivity of Disconnected Convex Sets for Graph-of-Convex-Sets Motion Planning
Xiaokai Zhou, Baoshi Cao, Yang Liu +4
Graph-of-Convex-Sets (GCS)-based trajectory optimization represents collision-free regions in configuration space as a finite collection of convex sets and directly performs collis…
cs.RO2026
HCPG-Flow:Hierarchical Contact-Progress Guidance for Flow-Policy Robot Manipulation
Guanghu Xie, Mingxu Li, Shuo Zhang +5
Flow policies can represent multimodal action distributions for robot manipulation, yet a robot must execute one action at each control step. When several proposals are sampled, cr…
cs.RO2026
Now You See That: Learning End-to-End Humanoid Locomotion from Raw Pixels
Wandong Sun, Yongbo Su, Leoric Huang +10
Achieving robust vision-based humanoid locomotion remains challenging due to two fundamental issues: the sim-to-real gap introduces significant perception noise that degrades perfo…