3 papers
cs.RO2026
Efficiently Learning Robust Torque-based Locomotion Through Reinforcement with Model-Based Supervision
Yashuai Yan, Tobias Egle, Christian Ott +1
We propose a control framework that integrates model-based bipedal locomotion with residual reinforcement learning (RL) to achieve robust and adaptive walking in the presence of re…
cs.RO2026
Learning a Unified Latent Space for Cross-Embodiment Robot Control
Yashuai Yan, Dongheui Lee
We present a scalable framework for cross-embodiment humanoid robot control by learning a shared latent representation that unifies motion across humans and diverse humanoid platfo…
cs.RO2025
Variable Stiffness for Robust Locomotion through Reinforcement Learning
Dario Spoljaric, Yashuai Yan, Dongheui Lee
Reinforcement-learned locomotion enables legged robots to perform highly dynamic motions but often accompanies time-consuming manual tuning of joint stiffness. This paper introduce…