3 papers
cs.RO2026
KCFRC: Kinematic Collision-Aware Foothold Reachability Criteria for Legged Locomotion
Lei Ye, Haibo Gao, Huaiguang Yang +6
Legged robots face significant challenges in navigating complex environments, as they require precise real-time decisions for foothold selection and contact planning. While existin…
cs.RO2026
PegasusFlow: Parallel Rolling-Denoising Score Sampling for Robot Diffusion Planner Flow Matching
Lei Ye, Haibo Gao, Peng Xu +7
Diffusion models offer powerful generative capabilities for robot trajectory planning, yet their practical deployment on robots is hindered by a critical bottleneck: a reliance on…
cs.RO2025
Whole-Body Constrained Learning for Legged Locomotion via Hierarchical Optimization
Haoyu Wang, Ruyi Zhou, Liang Ding +5
Reinforcement learning (RL) has demonstrated impressive performance in legged locomotion over various challenging environments. However, due to the sim-to-real gap and lack of expl…