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cs.LG2026
Learning Reusable Hybrid Motion Priors for Humanoid Locomotion from Motion Imitation
Valerio Belli, Valerio Modugno, Enrico Mingo Hoffman +1
Reinforcement learning can produce robust humanoid controllers, but each new task is typically trained as a separate policy with its own reward design and training process. Motion…
cs.LG2026
Characterizing Optimizer-Dependent Training Dynamics Through Hessian Eigenvector Displacement and Localization
Marcelina Marjankowska, Valerio Modugno, Paolo Barucca
Hessian spectral properties are a standard tool in analysing neural-network training, with eigenvalues linked to sharpness, generalization, and optimization dynamics. Eigenvalues q…