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cs.RO2026
BFMTrack: Latent Sequence Optimization for Physics-Based Motion Tracking with Behavioral Foundation Models
Thomas Rupf, Agon Serifi, David Müller +4
Behavioral Foundation Models (BFMs) offer a promising path toward universal physics-based character control by organizing a rich repertoire of physically plausible behaviors into a…
cs.LG2026
Soft Forward-Backward Representations for Zero-shot Reinforcement Learning with General Utilities
Marco Bagatella, Thomas Rupf, Georg Martius +1
Recent advancements in zero-shot reinforcement learning (RL) have facilitated the extraction of diverse behaviors from unlabeled, offline data sources. In particular, forward-backw…