12 citations · 37 across the 29 of their papers we have counts for
31 papers
Neural POS Tagging for the Low-Resource Saraiki
Usman Nawaz, Muhammad Junaid Iqbal, Muhammad Asaf +4
Part-of-speech tagging is a fundamental sequence labeling task and an important component for many downstream natural language processing applications. However, Saraiki, written fr…
Model-Informed Safe Reinforcement Learning for Bipedal Locomotion via Step-to-Step Prediction
Victor Paredes, Ayonga Hereid
Humanoid robots promise versatile mobility in cluttered, human-centric environments, but real deployment demands principled safety. Classical model-based gait generators yield inte…
Perceptive Variable-Timing Footstep Planning for Humanoid Locomotion on Disconnected Footholds
Zhaoyang Xiang, Upama Pant, Ayonga Hereid
Walking over disconnected footholds requires selecting landing regions while adapting step timing to the robot's motion. We present a perceptive model predictive planner that combi…
Learning Terrain Aware Bipedal Locomotion via Reduced Dimensional Perceptual Representations
Guillermo A. Castillo, Himanshu Lodha, Ayonga Hereid
This work introduces a hierarchical strategy for terrain-aware bipedal locomotion that integrates reduced-dimensional perceptual representations to enhance reinforcement learning (…
Reinforcement Learning with Data Bootstrapping for Dynamic Subgoal Pursuit in Humanoid Robot Navigation
Chengyang Peng, Zhihao Zhang, Shiting Gong +3
Safe and real-time navigation is fundamental for humanoid robot applications. However, existing bipedal robot navigation frameworks often struggle to balance computational efficien…
Real-Time Safe Bipedal Robot Navigation using Linear Discrete Control Barrier Functions
Chengyang Peng, Victor Paredes, Guillermo A. Castillo +1
Safe navigation in real-time is an essential task for humanoid robots in real-world deployment. Since humanoid robots are inherently underactuated thanks to unilateral ground conta…