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cs.RO2026
Optimized Wrench Polytope Analysis for Real-Time Stability Control of Legged Robots in Complex Multi-Contact Configurations
Friedrich Graaf, Elias Birkefeld, Christian Eichmann +5
Legged robots offer a variety of automation applications in real-world scenarios. But areas that are difficult to traverse, like slopes, caves, or scaffolding, still pose a great c…
cs.RO2026
From Pixels to Concepts: Growing Rich 3D Semantic Scene Graph Forests utilizing Foundation Models
David Oberacker, Meike Deitersen, Niklas Spielbauer +3
Operating in complex real-world environments requires robots to understand their surroundings on a functional semantic level. This demands a detailed multi-layer world model captur…