4 papers
Simultaneous Collision Detection and Force Estimation for Dynamic Quadrupedal Locomotion
Ziyi Zhou, Stefano Di Cairano, Yebin Wang +1
In this paper we address the simultaneous collision detection and force estimation problem for quadrupedal locomotion using joint encoder information and the robot dynamics only. W…
Physically-Feasible Reactive Synthesis for Terrain-Adaptive Locomotion via Trajectory Optimization and Symbolic Repair
Ziyi Zhou, Qian Meng, Hadas Kress-Gazit +1
We propose an integrated planning framework for quadrupedal locomotion over dynamically changing, unforeseen terrains. Existing approaches either rely on heuristics for instantaneo…
Simple, Efficient and Scalable Structure-aware Adapter Boosts Protein Language Models
Yang Tan, Mingchen Li, Bingxin Zhou +7
Fine-tuning Pre-trained protein language models (PLMs) has emerged as a prominent strategy for enhancing downstream prediction tasks, often outperforming traditional supervised lea…
Controlling Character Motions without Observable Driving Source
Weiyuan Li, Bin Dai, Ziyi Zhou +2
How to generate diverse, life-like, and unlimited long head/body sequences without any driving source? We argue that this under-investigated research problem is non-trivial at all,…