3 papers
cs.RO2026
MoRI: Mixture of RL and IL Experts for Long-Horizon Manipulation Tasks
Yaohang Xu, Lianjie Ma, Gewei Zuo +3
Reinforcement Learning (RL) and Imitation Learning (IL) are the standard frameworks for policy acquisition in manipulation. While IL offers efficient policy derivation, it suffers…
cs.RO2025
Hybrid Dynamics Modeling and Trajectory Planning for a Cable-Trailer System with a Quadruped Robot
Wentao Zhang, Shaohang Xu, Gewei Zuo +3
Inspired by sled-pulling dogs in transportation, we present a cable-trailer integrated with a quadruped robot system. The motion planning of this system faces challenges due to the…
cs.RO2025
A Whole-Body Disturbance Rejection Control Framework for Dynamic Motions in Legged Robots
Bolin Li, Wentao Zhang, Xuecong Huang +2
This letter presents a control framework for legged robots that enables self-perception and resistance to external disturbances and model uncertainties. First, a novel disturbance…