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cs.RO2026
LoComposition: Terrain-Adaptive Energy-Efficient Quadruped Locomotion without Gait Priors
Loukas Kordos, Leonard T. Franz, Simon Rappenecker +4
Learning-based quadrupedal locomotion typically relies on complex reward formulations that entangle task specification, operational limits, gait preference, and terrain adaptation…
cs.RO2025
Differentiable Simulation of Hard Contacts with Soft Gradients for Learning and Control
Anselm Paulus, A. René Geist, Pierre Schumacher +3
Contact forces introduce discontinuities into robot dynamics that severely limit the use of simulators for gradient-based optimization. Penalty-based simulators such as MuJoCo, sof…