Authors

Rong Su

Publications 2

Preprint Open access

MASkillBlender: Decentralized Whole-Body Coordination for Multi-Humanoid Loco-Manipulation via Skill Blending

Yifan Hu, Luhang Hong, Mingkang Long et al. · 2026

Coordinated multi-humanoid loco-manipulation is promising yet challenging due to high-dimensional whole-body control, decentralized decision making, and scalability. While recent reinforcement learning methods have improved single-humanoid whole-body control, extending them to the multi-humanoid setting remains nontriv …

Preprint Open access

Predict Before You Step: Auditable Occupancy Forecasting for Dynamic Obstacle Avoidance under Sparse Guidance

Yuhui Mao, Fen Liu, Shenghai Yuan et al. · 2026

Legged robots under sparse waypoint guidance must avoid moving obstacles using partial, rapidly changing LiDAR observations. We present LOOP (Latent-recurrent Occupancy rollOut Policy), a local avoidance policy that connects sparse waypoint guidance to a frozen locomotion controller at 50 Hz. From occupancy and ego-vel …

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