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cs.RO2026
SG-CPG: Severity-Gated Central Pattern Generators for Adaptive Quadruped Locomotion under Continuous Actuator Degradation
Adarsh Kumar Kosta, Kaushik Roy
An animal with a weakened limb does not necessarily switch its gait, instead it unloads the affected limb, re-coordinates the remaining limbs, and scales its response with injury s…
cs.RO2026
GLAMDRING: Gait Learning And Morphology co-Design via Reinforcement LearnING of CPGs
Amogh Joshi, Kaushik Roy
Robots are moving out of the structured factory floor and into unstructured environments such as disaster sites, planetary surfaces, and agricultural fields, for which the right ro…
cs.RO2026
Confidence-Gated Vision-Only Heading Alignment for UAV-UGV Cooperative Systems
Reza Ahmari, Vahid Hemmati, Parham Kebria +3
Vision-based heading prediction is useful for UAV--UGV cooperation, but accurate prediction alone does not guarantee that every predicted heading should be issued directly as a con…