An n-dimensional hybrid system embeds into a continuous vector field in m > 2n dimensions, enabling latent Neural ODEs with consistency losses to recover hybrid flows from time series.
Hybrid internal model: Learning agile legged locomotion with simulated robot response
8 Pith papers cite this work. Polarity classification is still indexing.
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2026 8verdicts
UNVERDICTED 8representative citing papers
FADA is a three-stage Planner-IDM method that achieves few-shot domain adaptation for humanoid control by distilling an oracle policy then finetuning only the IDM on short target-domain rollouts via supervised learning.
A modular system uses motion matching to compose long-horizon human skill chains, trains RL experts, and distills them into a depth-based policy that lets a Unitree G1 humanoid autonomously climb, vault, and roll over obstacles up to 1.25 m tall.
IMPACT decouples forceful manipulation into task-planning and internal-model predictive control, claiming higher success rates, better generalization to unseen weights, and improved safety and energy efficiency in simulation and real-world tests.
A lightweight RL framework trains terrain-agnostic 3D foothold-tracking policies for humanoids that transfer directly to real-world use as standalone low-level controllers.
A single reinforcement learning policy jointly trains multiple locomotion skills for wheeled-legged robots with DC-motor constraints and learns a proprioceptive skill selector for adaptive behavior.
A two-stage RL framework with a thermal-aware residual policy enables a Unitree A1 quadruped to achieve over 13 minutes of stable locomotion under 3 kg payload versus 5 minutes before overheating with the nominal policy alone.
IDEA elevates multi-agent policies to semantic actions with effect alignment and synchronization for improved sim-to-real robustness on navigation tasks.
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Embedding Hybrid Systems into Continuous Latent Vector Fields
An n-dimensional hybrid system embeds into a continuous vector field in m > 2n dimensions, enabling latent Neural ODEs with consistency losses to recover hybrid flows from time series.