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cs.RO2026
MSC: Multi-Stage Caster-aware Control Framework with Uncertainty-Aware NMPC and RL-based Execution Layer
Jinho Park, Jeongtae Lee, Jeonghyeok Lim +2
Freely swiveling casters are widely adopted in industrial AMRs/SDVs for their mechanical simplicity and load capacity. However, caster misalignment during low-speed or high-curvatu…
cs.RO2026
ADP: Adversarial Dynamics Priors for Physically Grounded Humanoid Locomotion
Seokju Lee, Jeongtae Lee, Jeonghyeok Lim +6
In this paper, we propose Adversarial Dynamics Priors (ADP) for perturbation-resilient humanoid locomotion control. Existing motion prior-based methods induce natural motion styles…