Author

Zihan Yang

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Preprint Aug 2026

CARO: Contact-Agnostic Residual Observation for Zero-Shot Robust Quadruped Locomotion

We propose CARO, a contact-agnostic residual observation framework for policy adaptation. CARO embeds a fixed-base Euler--Lagrange model into the reinforcement learning control loop and constructs a torque-level residual observation without requiring torque sensors, explicit contact estimation, or vision-based measurem...

Zi-Han Yang, Shixu Han, Ke-Xin Guo et al. · 0 citations

#large language models Open access Aug 2026

Physics filtering favors the generalization of robot learning

It is shown that robots can generalize effectively under dynamics uncertainties even with limited training data by leveraging a feedback mechanism, namely PhyFilter, that corrects learning outputs with physics-filtered learning residuals, and shows that physics-filtered feedback can serve as a powerful alternative to m...

Jin-Dou Jia, Shixu Han, Meng Wang et al. · npj Robotics · 2 citations