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cs.RO2026
Collision-Aware Humanoid Whole-Body Control under Imperfect Tracking Targets
Mohitvishnu S. Gadde, Ashish Malik, Pranay Dugar +2
Humanoid robots often execute motion commands through whole-body controllers (WBCs) that track targets while maintaining balance and stability. However, most WBCs are blind to scen…
cs.RO2025
No More Blind Spots: Learning Vision-Based Omnidirectional Bipedal Locomotion for Challenging Terrain
Mohitvishnu S. Gadde, Pranay Dugar, Ashish Malik +1
Effective bipedal locomotion in dynamic environments, such as cluttered indoor spaces or uneven terrain, requires agile and adaptive movement in all directions. This necessitates o…