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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…