Author

Luis Sentis

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Preprint Aug 2026

Whole-Body Planning for Humanoids Navigating Confined Spaces via Self-Collision Avoidance References

Humanoid locomotion in highly confined environments requires navigating dense environmental obstacles and complex self-collision bounds while maintaining multi-contact dynamic feasibility. Traditional trajectory optimizers frequently struggle in these restricted spaces, as navigating the large collision space with spli...

Carlos Gonzalez, Luis Sentis · 0 citations

Preprint Sep 2026

Catch Me If You Can: Real-Time Feedback Denoising for Responsive VLAs

Vision-Language-Action (VLA) models have shown strong generalization in robotic manipulation by combining semantic knowledge from pretrained vision-language models with expressive action-generation policies. Diffusion-based action generators are particularly effective for modeling temporally coherent action chunks, but...

Yi-Heng Ji, Xing-Ru Zhou, Luis Sentis et al. · 0 citations