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cs.RO2026
Contact-UAN: Unsupervised Actuator Networks as a Residual World Model for Humanoid Control
Nolan Fey, Khai Nguyen, Yash Prabhu +2
Humanoid policies trained in simulation can transfer qualitatively to hardware while failing to transfer the force interactions learned during training, compromising torque efficie…
cs.RO2025
TD-GRPC: Temporal Difference Learning with Group Relative Policy Constraint for Humanoid Locomotion
Khang Nguyen, Khai Nguyen, An T. Le +4
Robot learning in high-dimensional control settings, such as humanoid locomotion, presents persistent challenges for reinforcement learning (RL) algorithms due to unstable dynamics…
cs.RO2025
Model Tensor Planning
An T. Le, Khai Nguyen, Minh Nhat Vu +2
Sampling-based model predictive control (MPC) offers strong performance in nonlinear and contact-rich robotic tasks, yet often suffers from poor exploration due to locally greedy s…