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cs.LG2026
Adaptive Expert Guidance for Efficient On-Policy Reinforcement Learning
Daniele Affinita, Ming Xu, Rudolf Reiter +2
With massively parallel simulation, on-policy Reinforcement Learning methods such as PPO have become standard in many domains. However, learning from scratch is sample-inefficient…
cs.RO2026
Vision-Based Dribbling for Humanoid Soccer via Privileged Representation Learning
Flavio Maiorana, Valerio Spagnoli, Eugenio Bugli +5
Recent advances in humanoid robotics have highlighted the importance of deployable loco-manipulation skills. Dribbling a soccer ball while evading active opponents requires simulta…
cs.RO2026
Neural-Surrogate Co-Design of Aerodynamic Shape and Control
Daniele Affinita, Mingda Xu, Benoît Valentin Gherardi +1
Control co-design jointly optimizes a robot's physical design and its controller. Existing techniques are limited in the number of model parameters and the complexity of the physic…