3 papers
cs.RO2026
Bicycle Acrobatics with Reinforcement Learning
Shamel Fahmi, Arianna Ilvonen, Samuel Zapolsky +8
Bicycle robots are fast and energy efficient, but their simple mechanical design and their underactuated and non-holonomic dynamics make highly agile maneuvers difficult to achieve…
cs.RO2026
LineRides: Line-Guided Reinforcement Learning for Bicycle Robot Stunts
Seungeun Rho, Shamel Fahmi, Jeonghwan Kim +3
Designing reward functions for agile robotic maneuvers in reinforcement learning remains difficult, and demonstration-based approaches often require reference motions that are unav…
cs.RO2026
Flip Stunts on Bicycle Robots using Iterative Motion Imitation
Jeonghwan Kim, Shamel Fahmi, Seungeun Rho +2
This work demonstrates a front-flip on bicycle robots via reinforcement learning, particularly by imitating reference motions that are infeasible and imperfect. To address this, we…