2 papers
cs.RO2026
Toward Reliable Sim-to-Real Predictability for MoE-based Robust Quadrupedal Locomotion
Tianyang Wu, Hanwei Guo, Yuhang Wang +6
Reinforcement learning has shown strong promise for quadrupedal agile locomotion, even with proprioception-only sensing. In practice, however, sim-to-real gap and reward overfittin…
cs.LG2025
Bootstrapped Model Predictive Control
Yuhang Wang, Hanwei Guo, Sizhe Wang +2
Model Predictive Control (MPC) has been demonstrated to be effective in continuous control tasks. When a world model and a value function are available, planning a sequence of acti…