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cs.RO2026
Learning to infer and manipulate through distributed whole-arm interaction in a soft robot
Chuhan Zhang, Ebrahim Shahabi, Kseniia Khomenko +2
In animals such as elephants and octopuses, acquiring non-visual information about an object and physically engaging with it are inseparable processes mediated by rich, large-area…
cs.RO2026
SKooP: Symmetric Koopman Predictions for Faster and More Generalizable Legged Robot Locomotion with Reinforcement Learning
Evelyn D'Elia, Weishu Zhan, Giulio Turrisi +5
Reinforcement learning (RL) algorithms classically suffer from poor sample efficiency. In robotics, a recent line of work has emerged addressing this problem by encoding physics pr…
cs.RO2026
Towards Terrain-Aware Safe Locomotion for Quadrupedal Robots Using Proprioceptive Sensing
Peiyu Yang, Jiatao Ding, Wei Pan +2
Achieving safe quadrupedal locomotion in real-world environments has attracted much attention in recent years. When walking over uneven terrain, achieving reliable estimation and r…