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cs.RO2026
MulDP: Multimodal Diffusion Policy for Autonomous Quadruped Parkour Navigation across Complex Terrains
Kangmai Hu, Yueqi Zhang, Peng Zhai +5
Quadruped robots have demonstrated impressive agility in parkour locomotion across complex terrains. However, most systems still rely on human intervention for high-level planning,…
cs.RO2026
MUJICA: Multi-skill Unified Joint Integration of Control Architecture for Wheeled-Legged Robots
Yuqi Li, Peng Zhai, Yueqi Zhang +5
Wheeled-legged robots hold promise for traversing complex terrains and offer superior mobility compared to legged robots. However, wheeled-legged robots must effectively balance bo…
cs.RO2026
KiRAS: Keyframe Guided Self-Imitation for Robust and Adaptive Skill Learning in Quadruped Robots
Xiaoyi Wei, Peng Zhai, Jiaxin Tu +5
With advances in reinforcement learning and imitation learning, quadruped robots can acquire diverse skills within a single policy by imitating multiple skill-specific datasets. Ho…