Author

Marco Hutter

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Preprint Aug 2026

Learning Agile Perceptive Traversal of Sparse 3D Structures for Humanoids

A reinforcement-learning-based perceptive control system that operates directly on observations from a head-mounted solid-state lidar, consuming the raw lidar scan through an attention-based encoder with recurrent memory to extract task-relevant geometry from the sparse returns.

Efe Ongan, Chong Zhang, Bo-Yang Sun et al. · 0 citations

Open access Aug 2026

Contact-Guided Exploration for Non-Prehensile Locomanipulation With Multi-Critic RL

This work proposes a contact-guided exploration strategy implemented within a Multi-Critic Reinforcement Learning (RL) framework, and obtains candidate interaction points from a general-purpose grasping algorithm, enabling the exploration mechanism to generalise across various object geometries.

Simone Tolomei, Mayank Mittal, F. Angelini et al. · IEEE Robotics and Automation... · 0 citations