AINeutralarXiv – CS AI · 6h ago6/10
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CTS-MoE: Implicit Terrain Adaptation via Mixture-of-Experts for Perceptive Locomotion
Researchers introduce CTS-MoE, a machine learning approach that enables legged robots to traverse complex terrain by dynamically adapting their locomotion strategy through a mixture-of-experts architecture guided by perception. Tested on the Unitree Go1 robot, the system outperforms traditional monolithic policies in handling stairs, gaps, and obstacles without requiring explicit terrain classification.