Geometric Shortcuts for Complex Trunk Postures: Dual-Helicity Coupling Enables Low-Dimensional Control

arXiv:2609.18050 · cs.RO · Submitted 2026-09-16 · Read on arXiv

cs.RO

Submitted: 2026-09-16

Updated: 2026-09-18

Terminology

• Anisotropy — 6× in this paper · explained in 3 episodes
• Alignment — 2× in this paper · explained in 1 episode
• Abstraction — 1× in this paper · explained in 1 episode
• Action Space — 1× in this paper · explained in 1 episode
• Decoupling — 1× in this paper · explained in 2 episodes
• Reinforcement Learning — 1× in this paper · explained in 4 episodes
• Steering — 1× in this paper · explained in 2 episodes

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