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Papers 1,981–2,010 of 3,611

Towards Torque-Driven Reinforcement Learning for Quadruped Locomotion
Jul 20, 2026Jordan Dowdy, Jean Chagas VazLegged Robots Iterative Reinforcement Learning
Department of Electrical and Computer Engineering at the University of Louisville. · Faculty of Electrical and Computer Engineering, University of Louisville, Louisville, KY, 40208, USA.
Isaac Sim-to-Real: Reinforcement Learning based Locomotion for Quadrupeds
Jul 20, 2026Jordan Dowdy, Jean Chagas VazPerceptive Locomotion Policies Zero-Shot Sim-To-Real Transfer
Department of Electrical and Computer Engineering, University of Louisville · Faculty of Electrical and Computer Engineering, University of Louisville, Louisville, KY, 40208, USA
Technical Design Review of Duke Robotics Club's Oogway & Crush: AUVs for RoboSub 2026
Jul 20, 2026Patrick Zheng, Saagar Arya, Hung Le +16Autonomous Underwater Vehicles Robocasa
Duke Robotics Club
FARO: Feasibility-Aware Robot Motion Optimization
Jul 20, 2026Michal Ciebielski, Shafeef Omar, Aaron Johnson +1Humanoid Loco-Manipulation Robot Trajectories
Munich Institute of Robotics and Machine Intelligence (MIRMI), Technical University of Munich (TUM), Germany. · Institute for Advanced Study, Technical University of Munich, Garching, Germany. · Department of Mechanical Engineering, Carnegie Mellon University, Pittsburgh, PA, USA.
Keyframe-Anchored Identity Preservation for Sequential-Action Video Generation
Jul 20, 2026Zhenjie Liu, Binyan Chen, Hao Chen +2Keyframe Selection Appearance
University of Science and Technology of China Hefei, China
Does Robust VIO Need More Learning? Geometry-Verified Visual Measurements under Distribution Shift
Jul 20, 2026Yangyang Ning, Shu Liang, Quanbo Ge +3Visual Odometry Feed-Forward Visual Geometry Estimation
Department of Control Science and Engineering, Tongji University, Shanghai 201804, China
Receiver-Centered Robot-to-Human Handover with Grasp-Aware Object Orientation
Jul 20, 2026Federico Biagi, Dario Onfiani, Simone Silenzi +1Human-Robot Collaboration Human-To-Robot Transfer
Department of Engineering "Enzo Ferrari", University of Modena and Reggio Emilia, Italy.
ReViV: Reconstructing the Viewer and the View in 4D from Monocular Egocentric Video
Jul 20, 2026Xiaozhong Lyu, Gen Li, Zhiyin Qian +34D Reconstruction Ego-Motion
ETH Zurich, Switzerland · Delft University of Technology, Netherlands · Microsoft, Switzerland
BrainNext: A General-Purpose Self-Supervised Foundation Model for Brain MRI Analysis
Jul 20, 2026Moona Mazher, Abdul Qayyum, Steven A. Niederer +1Neuroimaging Models Wireless Foundation Models
UCL Hawkes Institute, Department of Computer Science, University College London, London, United Kingdom · National Heart & Lung Institute, Imperial College London, London, United Kingdom · Division of Cardiovascular Medicine, Stanford Cardiovascular Institute, Stanford University, California, USA
ETAS: An Effect-Typed Language for Agent Systems
Jul 20, 2026Huiri Tan, Yikun Wang, Puyang Zhang +2Runtime Enforcement Label Constraint Modeling
The Hong Kong University of Science and Technology, Hong Kong
VLN-AVP: Zero-Shot Vision-Language Navigation with Hybrid Long-Short-Term Memory for Autonomous Valet Parking
Jul 20, 2026Yijian Li, Xiangru Mu, Changze Li +7Vision-Language Navigation Autonomous Driving
Shanghai Jiao Tong University, Shanghai, China · Yinwang Intelligent Technology Co., Ltd.
ProEvent: An Event-centric Benchmark for Proactive Agents
Jul 20, 2026Guanzhen Li, Liangming Pan, Leye WangProactive Responses
School of Computing, Peking University
Configuration-Induced Passive Self-Rotation for Perception-Enhanced Autonomous Flight
Jul 20, 2026Xurui Liu, Miao Wang, Tianyu He +2Quadrotor Flight Autonomous Driving Perception
School of Robotics and Automation, Nanjing University, Suzhou 215163, China
Addressing Limited Data in Auditory Attention Decoding with Diffusion Generative Models
Jul 20, 2026David Rannaleet, Victor Gunnarsson, Bo Bernhardsson +2Synthetic Data Augmentation Electroencephalography Spatial Super-Resolution
Department of Automatic Control, Lund University, Lund, Sweden. · Eriksholm Research Centre, Snekkersten, Denmark. · Department of Electrical Engineering, Linköping University, Linköping, Sweden.
Finite-Time Curvature-Constrained Vector Field for Saturation-Free Motion Planning of Nonholonomic Robots
Jul 20, 2026Zhouru Xiao, Sha Luo, Yang Lu +5Vector Fields Motion Planners
School of Artificial Intelligence and Robotics, Hunan University. China. · College of Information Science and Engineering, Hunan Normal University, China. · College of Systems Engineering and the State Key Laboratory of Digital Intelligent Modeling and Simulation, National University of Defense Technology, China. +1
Disturbance-Aware Flight for Aerial Robots in Narrow Space
Jul 20, 2026Lei Qiang, Tianyu He, Chenyang Sun +3Aerial Robots Quadrotor Flight
School of Robotics and Automation, Nanjing University, Suzhou 215163, China
Does Super-Resolution Preserve Defect Evidence? A Low-False-Call Benchmark for Semiconductor Inspection
Jul 19, 2026Shaoliang Yang, Jun WangSuper-Resolution Framework Reconstruction Quality
Santa Clara University Santa Clara, CA 95053, USA
Quantifying Diversity of Thought: A Predictive Law of Weighted LLM Ensemble Lift
Jul 19, 2026Junade AliEnsemble Diversity
Defence and National Security Programme The Alan Turing Institute London, United Kingdom
From Perception to Assistance: Open-Vocabulary Shared Autonomy for Robotic Manipulation
Jul 19, 2026Murilo Vinicius da Silva, Ricardo V. Godoy, Juliano Negri +3Generalizable Robotic Manipulations Rgb-Depth Cameras
Department of Mechanical Engineering, University of São Paulo, São Carlos, Brazil · Instituto Israelita de Ensino e Pesquisa Albert Einstein, Hospital Israelita Albert Einstein, São Paulo, Brazil · Graduate School of Information Sciences, Tohoku University, Sendai, Japan.
Denoising Models Develop Human-Like Perceptual Illusion Representations Across Architectures
Jul 19, 2026Gautam Ranka, Paras ChopraVisual Perception Perceptual Understanding
Lossfunk
BoxTwin: Learning Elastoplastic Articulated Object Dynamics from Videos
Jul 19, 2026Heng Zhang, Gehan Zheng, Kaifeng Zhang +6Deformable Objects Digital Twins
Heng Zhang, Gehan Zheng, Kaifeng Zhang, Jay Song, Shivansh Patel, Sonny Hu, Yunzhu Li and Changxi Zheng are with SceniX, Inc. · Peter Yichen Chen is with the University of British Columbia.
OTAP: Structure-Aware Optimal Transport for Evaluating Planning and Execution in Agent Trajectories
Jul 19, 2026Babak Barazandeh, Subhabrata Majumdar, George MichailidisTrajectory Prediction Planning Methods
Fortinet · IIMB · UCLA
ADMM-Based Safety-Critical Distributed NMPC for Cooperative Transportation by Quadrupedal Robots
Jul 18, 2026Ruturaj S. Sambhus, Kapi Ketan Mehta, Yicheng Zeng +1Multi-Robot Systems Model Predictive Control
Department of Mechanical Engineering, Virginia Tech, Blacksburg, VA 24061, USA
G2-Nav: Grounded and Guarded Vision-Language Costmaps for Robot Social Navigation
Jul 18, 2026Yuwen Liao, Yihang Lan, Yizhuo Yang +4Social Robot Navigation Autonomous Navigation
School of Electrical and Electronic Engineering Nanyang Technological University Singapore
Simulate to Generalize: Scaling Stateful Supervision for API-calling Agents using LLM World Models
Jul 18, 2026Seanie Lee, Sanjoy Chowdhury, Chao Jiang +5Synthetic Data User Simulation
Apple
First-Order Predictable but Pairwise Fragile: Local Task Adaptation in Trained Transformers
Jul 18, 2026Irina Piontkovskaia, Sergey NikolenkoTransformer Architectures Unseen-Task Adaptation
1DAIMLD, Moscow, Russia · 2St. Petersburg Department of the Steklov Institute of Mathematics, St. Petersburg, Russia · 3St. Petersburg State University
AI-Augmented Model Predictive Control for Safe and Adaptive Rendezvous and Proximity Operations
Jul 18, 2026Luca Sportelli, Tyler Barr, Cagri Kilic +1Model Predictive Control Proximity Operations
Department of Aerospace Engineering, Embry–Riddle Aeronautical University, Daytona Beach, FL 32114
Exact Network Surgery: Functional Invariance and Gradient Plasticity in Reactive Computational Graphs
Jul 18, 2026Abdallah KhemaisResidual Connections Gradient Descent
ISITCOM, University of Sousse
AffectFuse: Cross-Task Feature Fusion with Temporal Modeling for Multi-Task Affective Behavior Analysis
Jul 17, 2026Dipit Saha, Mohammad Raihan Rashid, Shah Mohammad Abdul Mannan +2Affective Computing Feature Fusion
Bangladesh University of Engineering and Technology
GeoChrono: Benchmarking and Rethinking Long-Term Temporal Understanding in Remote Sensing
Jul 17, 2026Yujie Li, Jiancheng Pan, Zhiwei Wei +3Remote Sensing Normalized Difference Vegetation Index
Beijing University of Posts and Telecommunications Haidian, Beijing, China · Tsinghua University Haidian, Beijing, China · Hunan Normal University Changsha, Hunan, China +1

Jul 20, 2026, cs.ROJ/K move · Enter open · S save

Towards Torque-Driven Reinforcement Learning for Quadruped Locomotion

Jordan Dowdy, Jean Chagas Vaz

Department of Electrical and Computer Engineering at the University of Louisville. · Faculty of Electrical and Computer Engineering, University of Louisville, Louisville, KY, 40208, USA.

Legged Robots Iterative Reinforcement Learning Actuator

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Reinforcement learning (RL) for legged robots is advancing locomotion, demonstrating its ability to adapt to new and challenging terrain. Traditionally, these RL locomotion frameworks are position-based, making the policy less adaptable to terrain types and requiring state estimation techniques in the observation space, i.e., linear velocity. Moreover, these RL frameworks often use small, lightweight quadrupeds that are limited in their viability for high-complexity tasks due to hardware constraints. This work explores an RL torque control framework for heavyweight high-torque quadrupeds. The RL framework in this paper can traverse rough terrain and effectively track a desired linear velocity without requiring knowledge of the agent's current velocity. Using Nvidia's Isaac Sim and Isaac Lab, simulation results of the RL torque control policy are shown on the Unitree B1 quadruped, achieving speeds of 3.5 m/s and 1.5 rad/s. In addition, the quadruped can walk up and down stairs without the aid of an exteroceptive sensor.