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cs.RO2025
Gallant: Voxel Grid-based Humanoid Locomotion and Local-navigation across 3D Constrained Terrains
Qingwei Ben, Botian Xu, Kailin Li +6
Robust humanoid locomotion requires accurate and globally consistent perception of the surrounding 3D environment. However, existing perception modules, mainly based on depth image…
cs.RO2025
MoE-DP: An MoE-Enhanced Diffusion Policy for Robust Long-Horizon Robotic Manipulation with Skill Decomposition and Failure Recovery
Baiye Cheng, Tianhai Liang, Suning Huang +5
Diffusion policies have emerged as a powerful framework for robotic visuomotor control, yet they often lack the robustness to recover from subtask failures in long-horizon, multi-s…
cs.RO2025
FACET: Force-Adaptive Control via Impedance Reference Tracking for Legged Robots
Botian Xu, Haoyang Weng, Qingzhou Lu +2
Reinforcement learning (RL) has made significant strides in legged robot control, enabling locomotion across diverse terrains and complex loco-manipulation capabilities. However, t…