2 papers
cs.RO2026
CARO: Contact-Agnostic Residual Observation for Zero-Shot Robust Quadruped Locomotion
Zihan Yang, Shixuan Han, Kexin Guo +1
We propose CARO, a contact-agnostic residual observation framework for policy adaptation. CARO embeds a fixed-base Euler--Lagrange model into the reinforcement learning control loo…
cs.RO2026
Physics Filtering Favors the Generalization of Robot Learning
Jindou Jia, Shixuan Han, Meng Wang +8
Living organisms exhibit extraordinary adaptability to unseen environments through their intrinsic physical structures and lifelong feedback-driven learning. Endowing robots with c…