3 papers
cs.RO2026
Towards Capability-Aware Traversability Navigation for Unstructured Environments
Gianluca Capezzuto, Felipe Tommaselli, Matheus P. Angarola +2
Estimating traversability in unstructured environments requires conditioning on robot embodiment, as the same terrain can be traversable for one platform and unsafe for another. Ex…
cs.RO2026
CTS-MoE: Implicit Terrain Adaptation via Mixture-of-Experts for Perceptive Locomotion
Francisco Affonso, Matheus P. Angarola, Ana Luiza Mineiro +3
Perceptive legged locomotion over discontinuous terrain (e.g., stairs, gaps, and obstacles) requires adaptive behavior, as a single conservative gait cannot produce the anticipator…
cs.RO2025
Learning Terrain-Specialized Policies for Adaptive Locomotion in Challenging Environments
Matheus P. Angarola, Francisco Affonso, Marcelo Becker
Legged robots must exhibit robust and agile locomotion across diverse, unstructured terrains, a challenge exacerbated under blind locomotion settings where terrain information is u…