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cs.RO2026
GuideWalk: Learning Unified Autonomous Navigation and Locomotion for Humanoid Robots across Versatile Terrains
Haoxuan Han, Chen Chen, Linao Gong +6
Humanoid robots have achieved strong locomotion capabilities, but reliable navigation on versatile terrains remains challenging because obstacle avoidance must be coordinated with…
cs.LG2026
Stabilizing On-Policy Distillation for MLLM Reasoning with Global Normalization
Dongze Hao, Zhiwei Jin, Chen Chen +1
On-policy distillation (OPD) has recently emerged as an important post-training paradigm. By using a stronger teacher model to provide dense, fine-grained supervision for sampled t…
cs.RO2026
T-GMP: Terrain-conditioned Generative Motion Priors for Versatile and Natural Humanoid Locomotion
Junhong Guo, Hao Hu, Chen Chen +6
Achieving both anthropomorphic naturalness and robust terrain traversal remains a fundamental challenge in humanoid locomotion. Existing Reinforcement Learning (RL) approaches typi…