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cs.RO2026
Language-Guided Terrain-Adaptive Neural MPC for Autonomous Traversal of Articulated Tracked Robots
Zhenfeng Gan, Yanbo Chen, Lirong Che +4
In urban search and rescue, articulated tracked robots (ATRs) must traverse structured but contact-rich environments such as stairwells and cluttered building interiors. Reliable a…
cs.RO2026
ActSWM: Action-Sensitive World Models for Long-Horizon Planning in Open-World Games
Zhenfeng Gan, ZiTong Zeng, Jiajun Cheng +3
Latent world models support efficient model-predictive control by optimizing future control sequences in latent space and replanning in a receding-horizon manner. However, existing…