A temporal-feature extension to clustering, with self-transition suppression for cluster count selection, yields clearer phase structures than prior methods across Ant-v5, HalfCheetah-v5, and Walker2D-v5.
Uncovering latent phase structures and branching logic in locomotion policies: A case study on halfcheetah.arXiv preprint arXiv:2603.18084, 2026
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Visualizing Latent Phase Structures in Locomotion Policies: A Multi-Environment Study with Temporal Feature Extension
A temporal-feature extension to clustering, with self-transition suppression for cluster count selection, yields clearer phase structures than prior methods across Ant-v5, HalfCheetah-v5, and Walker2D-v5.