# State-dependent objective coordination enables end-to-end balance and navigation for two-wheeled robots

- Source: arXiv cs.RO
- Published: 2026-10-22T04:00:00.000Z
- RoboHot: https://robohot.news/en/items/qvq73xopohj1f5db4qzgywsnk
- Original: https://arxiv.org/abs/2610.29142

## Summary

An arXiv paper proposes a lightweight state-dependent objective coordination method for end-to-end balance and navigation of two-wheeled inverted-pendulum robots. The method introduces a pitch-angle-conditioned scalar coefficient β(s)∈[0,1] that dynamically adjusts the relative weight of balance stabilization and navigation objectives during training, without requiring an additional control hierarchy or attitude-stabilization controllers such as PID or LQR.