2 papers
cs.RO2026
SCDP: Learning Humanoid Locomotion from Partial Observations via Mixed-Observation Distillation
Milo Carroll, Tianhu Peng, Lingfan Bao +2
Distilling humanoid locomotion control from offline datasets into deployable policies remains a challenge, as existing methods rely on privileged full-body states that require comp…
cs.RO2025
Discovery of skill switching criteria for learning agile quadruped locomotion
Wanming Yu, Fernando Acero, Vassil Atanassov +4
This paper develops a hierarchical learning and optimization framework that can learn and achieve well-coordinated multi-skill locomotion. The learned multi-skill policy can switch…