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cs.RO2026
Towards Capability-Aware Traversability Navigation for Unstructured Environments
Gianluca Capezzuto, Felipe Tommaselli, Matheus P. Angarola +2
Estimating traversability in unstructured environments requires conditioning on robot embodiment, as the same terrain can be traversable for one platform and unsafe for another. Ex…
cs.RO2026
Keeping Jerk in Check: Jointly Trained Perception-Gated Experts for Smooth Terrain Transitions
Francisco Affonso, Matheus P. Angarola, Ana Luiza Mineiro +3
Perceptive legged locomotion across discontinuous terrain requires shared locomotion knowledge, task-specific maneuvers, and smooth transitions between them. Existing approaches tr…
cs.RO2025
Learning Terrain-Specialized Policies for Adaptive Locomotion in Challenging Environments
Matheus P. Angarola, Francisco Affonso, Marcelo Becker
Legged robots must exhibit robust and agile locomotion across diverse, unstructured terrains, a challenge exacerbated under blind locomotion settings where terrain information is u…