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cs.RO2026
Learning Smooth Time-Varying Linear Policies with an Action Jacobian Penalty
Zhaoming Xie, Kevin Karol, Jessica Hodgins
Reinforcement learning provides a framework for learning control policies that can reproduce diverse motions for simulated characters. However, such policies often exploit unnatura…
cs.RO2025
Whole Body Model Predictive Control for Spin-Aware Quadrupedal Table Tennis
David Nguyen, Zulfiqar Zaidi, Kevin Karol +2
Developing table tennis robots that mirror human speed, accuracy, and ability to predict and respond to the full range of ball spins remains a significant challenge for legged robo…