Author

Rong Su

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#machine learning Preprint Oct 2026

MASkillBlender: Decentralized Whole-Body Coordination for Multi-Humanoid Loco-Manipulation via Skill Blending

Coordinated multi-humanoid loco-manipulation is promising yet challenging due to high-dimensional whole-body control, decentralized decision making, and scalability. While recent reinforcement learning methods have improved single-humanoid whole-body control, extending them to the multi-humanoid setting remains nontriv...

Yi-Fan Hu, Lu-Hang Hong, Ming-Kang Long et al. · 0 citations

Preprint Sep 2026

Predict Before You Step: Auditable Occupancy Forecasting for Dynamic Obstacle Avoidance under Sparse Guidance

Legged robots under sparse waypoint guidance must avoid moving obstacles using partial, rapidly changing LiDAR observations. We present LOOP (Latent-recurrent Occupancy rollOut Policy), a local avoidance policy that connects sparse waypoint guidance to a frozen locomotion controller at 50 Hz. From occupancy and ego-vel...

Yu-Hui Mao, Fen Liu, Sheng-Hai Yuan et al. · 0 citations