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cs.RO2026
Global-Local Attention Decomposition for Terrain Encoding in Humanoid Perceptive Locomotion
Shengcheng Fu, Yang Zhang, Zhanxiang Cao +4
Although reinforcement learning has significantly advanced humanoid locomotion, perceptive policies still struggle on sparse-foothold terrain and constrained environments. Success…
cs.RO2025★ 1 cited
Manipulate as Human: Learning Task-oriented Manipulation Skills by Adversarial Motion Priors
Ziqi Ma, Changda Tian, Yue Gao
In recent years, there has been growing interest in developing robots and autonomous systems that can interact with human in a more natural and intuitive way. One of the key challe…
cs.RO2023★ 1 cited
Terrain-adaptive Central Pattern Generators with Reinforcement Learning for Hexapod Locomotion
Qiyue Yang, Yue Gao, Shaoyuan Li
Inspired by biological motion generation, central pattern generators (CPGs) is frequently employed in legged robot locomotion control to produce natural gait pattern with low-dimen…