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News/CoRe-MoE: Contrastive Reweighted Mixture of Experts for Multi-Terrain Humanoid Locomotion with Gait Adaptation
arxiv
PublishedJune 4, 2026 at 4:00 AM

CoRe-MoE: Contrastive Reweighted Mixture of Experts for Multi-Terrain Humanoid Locomotion with Gait Adaptation

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Publisher summary· verbatim

arXiv:2606.04718v1 Announce Type: cross Abstract: 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

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