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cs.RO2026
R2S-EGO: Dual-Proxy Refinement for Sparse-Capture Real-to-Sim
Shuai Fang, Xin Deng, Yuchen Kang +2
Real-to-sim (R2S) depends on scene representations that render observations along robot ego trajectories, yet dense multi-view capture limits per-environment real-image capture-cou…
cs.RO2026
Athena-WBC: Capability-Aligned Policy Experts for Long-Tail Humanoid Whole-Body Control
Yuan Jiang, Ningyuan Zhang, Xicun Yang +2
Large-scale humanoid motion-tracking controllers are commonly improved by reallocating training effort: difficult motions are sampled more often, isolated into smaller subsets, or…