5 papers · 1 filter
M3imic: Learning a Versatile Whole-Body Controller for Multimodal Motion Mimicking
Zuxing Lu, Ziang Zheng, Yao Lyu +7
Building a general-purpose whole-body controller is essential for enabling diverse motion capabilities in humanoid robots across a wide range of downstream tasks, including locomot…
FUSE: A Framework for Unified State Estimation in Vehicular and Robotic SLAM Systems
Wei Wu, Honglin Chen, Wenhan Cao +7
Tightly coupled SLAM formulations under mixed-rate sensing often bind temporal processing, local geometric association, estimator formulation, and map-update policy into method-spe…
Natural Gradient Bayesian Filtering: Geometry-Aware Filter for Dynamical Systems
Chang Liu, Wenhan Cao, Zeju Sun +8
Bayesian filtering is a cornerstone of state estimation in complex systems such as aerospace systems, yet exact solutions are available only for linear Gaussian models. In practice…
Natural Gradient Gaussian Approximation Filter on Lie Groups for Robot State Estimation
Tianyi Zhang, Wenhan Cao, Chang Liu +2
Accurate state estimation for robotic systems evolving on Lie group manifolds, such as legged robots, is a prerequisite for achieving agile control. However, this task is challenge…
Jump-Start Reinforcement Learning with Self-Evolving Priors for Extreme Monopedal Locomotion
Ziang Zheng, Guojian Zhan, Shiqi Liu +3
Reinforcement learning (RL) has shown great potential in enabling quadruped robots to perform agile locomotion. However, directly training policies to simultaneously handle dual ex…