2026
Feasibility-Guided Planning Over Multi-Specialized Locomotion Policies
Ying-Sheng Luo, Lu-Ching Wang, Hanjaya Mandala, Yu-Lun Chou, Guilherme Henrique Galelli Christmann, Yu-Chung Chen +3
ICRA 2026poster
Planning over unstructured terrain presents a significant challenge in the field of legged robotics. Although recent works in reinforcement learning have yielded various locomotion strategies, planning over multiple experts remains a complex issue. Existing approaches encounter several constraints: …