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cs.RO2026
SeeTraceAct: Visibility-Aware Latent Planning from Cross-Embodiment Demonstration Videos
Jaehyeon Son, Junhyun Kim, Kyle Kam +7
Vision-language-action models (VLAs) are promising general-purpose robot policies, but adapting them to new tasks typically requires costly task-specific teleoperation data. As an…
cs.RO2025
Hierarchical Reinforcement Learning and Value Optimization for Challenging Quadruped Locomotion
Jeremiah Coholich, Muhammad Ali Murtaza, Seth Hutchinson +1
We propose a novel hierarchical reinforcement learning framework for quadruped locomotion over challenging terrain. Our approach incorporates a two-layer hierarchy in which a high-…
cs.RO2019
Compliance Shaping for Control of Strength Amplification Exoskeletons with Elastic Cuffs
Gray Cortright Thomas, Jeremiah M. Coholich, Luis Sentis
Exoskeletons which amplify the strength of their operators can enable heavy-duty manipulation of unknown objects. However, this type of behavior is difficult to accomplish; it requ…