Recent advances in control have enabled bipedal-wheeled robots to traverse slopes and single-step obstacles, yet long staircase traversal remains challenging as current teacher-student frameworks suffer from weakened dynamics-aware representations and incomplete terrain geometry encoding. To bridge this gap, we propose DynaWM, a dynamics-aware representation learning framework.
arXiv:2607. 13579v1 Announce Type: cross Abstract: Enabling quadrupedal robots to traverse complex terrains-from rugged outdoor environments to urban landscapes-requires seamless integration of multiple motor skills, smooth transitions between gaits, and high-speed perceptive locomotion using only onboard sensors.
By Jun-Gill Kang, Jaehyun Park, Tae-Gyu Song, Joon-Ha Kim, Seungwoo Hong, Hae-Won Park
arXiv:2607. 07357v1 Announce Type: cross Abstract: Effective social robot navigation requires sensitivity to human behavior, often revealed through subtle skeletal cues like gait and orientation.
By Daeun Song, Nhat Le, Jeffrey Chen, Mohammad Nazeri, Amirreza Payandeh, Rohan Chandra, Reuth Mirsky, Ross Mead, Ling Xiao, Xuesu Xiao
arXiv:2606. 29209v1 Announce Type: cross Abstract: We present AnyBody, a unified whole-body humanoid controller driven by an arbitrary subset of body keypoints chosen at deploy time.
By Shuning Li, Sikai Li, Jiachen Li, Mingyu Ding
arXiv:2607. 07370v1 Announce Type: cross Abstract: In embodied intelligence systems, the motion controller serves as the critical bridge between semantic reasoning and physical execution.
By Xufeng Zhao, Fuzhi Yang, Jianhui Chen, Li Gao, Zhang Meng, Jie Gao, Yao Zheng, Wenyu Liu, Menglin Yang, Minqi Gu, Yaru Zhao, Honglin Han, Shihui Su, Zixiao Tang, Liu Liu, Mu Xu, Yang Cai, Wenbin Tang
arXiv:2509. 26633v3 Announce Type: replace-cross Abstract: A dominant paradigm for teaching humanoid robots complex skills is to retarget human motions as kinematic references to train reinforcement learning (RL) policies.
By Lujie Yang, Xiaoyu Huang, Zhen Wu, Angjoo Kanazawa, Pieter Abbeel, Carmelo Sferrazza, C. Karen Liu, Rocky Duan, Guanya Shi