AI RESEARCH
CoRe-MoE: Contrastive Reweighted Mixture of Experts for Multi-Terrain Humanoid Locomotion with Gait Adaptation
arXiv CS.AI
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ArXi:2606.04718v1 Announce Type: cross Humans primarily rely on walking and running to traverse complex terrains, without resorting to unnecessarily complex motion patterns. Similarly, humanoid robots should achieve smooth transitions between walking and running while maintaining natural and stable locomotion. However, unifying gait transition and multi-terrain adaptation within a single policy remains challenging due to gradient interference and the distribution shift induced by terrain-dependent visual and dynamic variations.