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cs.RO2026
KlaskTron-IL: A Contact-Rich Adversarial Imitation Learning Benchmark with a Validated Sim-to-Real Bridge
Nicklas Sohm, Aswin Ramachandran, Raffaello D'Andrea
KlaskTron is an open-hardware physical platform for two-player adversarial reinforcement learning, with a learned actuator model that supports zero-shot sim-to-real transfer of tra…
cs.RO2026
Cross-Platform Control for Autonomous Surface Vehicles via Adaptive Reinforcement Learning
Ruiheng Jiang, Thomas Bi, Raffaello D'Andrea +1
Autonomous surface vehicles vary widely in hydrodynamic and actuation characteristics, yet most controllers are designed for single-platform deployment. We present an adaptive rein…
cs.RO2026
Reinforcement Learning-Based Control for an Inline Skating Humanoid Robot
Ethan Marot, Thomas Bi, Clemens Schwarke +3
As humanoid robots become increasingly dynamic, coupling them with reinforcement learning offers a promising approach to solving the complex, underactuated mechanics of passive inl…