3 papers
cs.RO2026
PRIOR: Perceptive Learning for Humanoid Locomotion with Reference Gait Priors
Chenxi Han, Shilu He, Yi Cheng +2
Training perceptive humanoid locomotion policies that traverse complex terrains with natural gaits remains an open challenge, typically demanding multi-stage training pipelines, ad…
cs.RO2026
PMG: Parameterized Motion Generator for Human-like Locomotion Control
Chenxi Han, Yuheng Min, Zihao Huang +4
Recent advances in data-driven reinforcement learning and motion tracking have substantially improved humanoid locomotion, yet critical practical challenges remain. In particular,…
cs.RO2025
Safe Expeditious Whole-Body Control of Mobile Manipulators for Collision Avoidance
Bingjie Chen, Yancong Wei, Rihao Liu +5
Whole-body reactive obstacle avoidance for mobile manipulators (MM) remains an open research problem. Control Barrier Functions (CBF), combined with Quadratic Programming (QP), hav…