2 papers
cs.RO2026
On the Emergence of Pendular Structure in Multi-Contact Locomotion
Lingxue Lyu, Zihui Liu
LIPM is everywhere in legged-locomotion control, but almost always as a modeling choice rather than as something the controller's cost actually prefers. This note tries to make tha…
cs.RO2026
RecoverFormer: End-to-End Contact-Aware Recovery for Humanoid Robots
Zihui Liu
Humanoid robots operating in unstructured environments must recover from unexpected disturbances-a capability that remains challenging for end-to-end control policies. We present R…