2 papers
cs.RO2026
Feedback-Modulated Harmonic Policies for Quadruped Locomotion
Yixuan Jia, Steven Roche, Jonathan P. How
Learned quadruped locomotion policies commonly map observations directly to joint-level actions, leaving the periodic structure of locomotion implicit in the policy. We investigate…
cs.RO2026
CORL-AUV: CFD Oriented Reinforcement Learning for Autonomous Underwater Vehicles
Steven Roche, Milo Van Mooy, Nathan McGuire +3
Precise control and positioning of autonomous underwater vehicles (AUVs) is critical for sampling, maintenance, and survey applications. Reinforcement learning (RL) offers rapid co…