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cs.RO2026
Predictive Safety Curricula for Robust Legged Locomotion
Ivan Ovinnikov, Pascal Sutter, Christian Gehring +1
Rare but consequential failures can persist in learned locomotion policies for legged robots even when average task performance is high, in part because standard curricula primaril…
cs.RO2026
ELMP: Efficient Learning for Motion Planning via Analytical Policy Gradients
Yixiao Li, Tifanny Portela, Jordis Herrmann +2
Neural Motion Planners (NMPs) enable fast reactive motion generation, but adapting them to new environments typically requires recollecting large expert datasets, which is computat…