3 papers
cs.RO2026
DELTA: Deformable Elevation-Based Local Terrain Attention Encoder for Sparse-Terrain Quadrupedal Locomotion
Sanghyun Park, Moonkyu Jung, Jemin Hwangbo
Stable quadrupedal locomotion on sparse terrain requires selecting state-relevant terrain evidence for precise foot placement. Model-based foothold planners provide precise foothol…
cs.RO2026
PAKE: Learning Whole-Body Loco-Manipulation with Partial Kinematic Embeddings
Zhengmao He, Moonkyu Jung, Hyeongjun Kim +4
Loco-manipulation has recently shown promising capabilities; however, achieving high-precision control, managing the high-dimensional action space induced by many degrees of freedo…
cs.RO2025
High-speed control and navigation for quadrupedal robots on complex and discrete terrain
Hyeongjun Kim, Hyunsik Oh, Jeongsoo Park +5
High-speed legged navigation in discrete and geometrically complex environments is a challenging task because of the high-degree-of-freedom dynamics and long-horizon, nonconvex nat…