arXiv: cs.AI preprintsInternational6 November 2026
Keeping Jerk in Check: Jointly Trained Perception-Gated Experts for Smooth Terrain Transitions
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arXiv:2606.19633v2 Announce Type: replace-cross Abstract: Perceptive legged locomotion across discontinuous terrain requires shared locomotion knowledge, task-specific maneuvers, and smooth transitions between them. Existing approaches train specialized policies independently and either switch among them with a hierarchical selector or distill them into a monolithic policy. Both fix the constituent behaviors before they are composed, and both are assessed through aggregate course outcomes that leave behavior at terrain boundaries uncharacterized. We instead propose CTS-MoE, which formulates mu
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