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cs.RO2026
UniPoint: Unified Point-Level Sensor Fusion for Humanoid Locomotion Across Challenging Terrains
Sicen Li, Zhen Chu, Chao Li +2
Open-world deployment requires humanoid robots to cross highly heterogeneous terrain safely, with perception that simultaneously provides wide coverage, local accuracy, and redunda…
cs.RO2023
Learning Agility and Adaptive Legged Locomotion via Curricular Hindsight Reinforcement Learning
Sicen Li, Yiming Pang, Panju Bai +5
Agile and adaptive maneuvers such as fall recovery, high-speed turning, and sprinting in the wild are challenging for legged systems. We propose a Curricular Hindsight Reinforcemen…