198 citations · 211 across the 17 of their papers we have counts for
7 papers · 1 filter
Identification of effective transport physics and optimal feedback control: Experimental demonstration on a 1600-fan wind generator
Tamir Shaqarin, Izz Al-Manasra, TianXiang Zhang +3
Distributed-input distributed-output (DIDO) systems arise in numerous engineering applications where large numbers of actuators generate spatially distributed physical fields that…
UniPoint: Unified Point-Level Sensor Fusion for Humanoid Locomotion Across Challenging Terrains
Sicen Li, Zhen Chu, Chao Li +2
Open-world deployment requires humanoid robots to cross highly heterogeneous terrain safely, with perception that simultaneously provides wide coverage, local accuracy, and redunda…
GUIDE: Goal-Initialized Directional Understanding for End-to-End Legged Navigation
Liang Wang, Jin Jin, KanZhong Yao +6
End-to-end reinforcement learning (RL) has shown strong potential for legged robot navigation, yet existing approaches commonly rely on continuously updated robot-to-goal states fr…
SSR: Scaling Surefooted and Symmetric Humanoid Traversal to the Open World
Ruiqi Yu, Yiwen Wang, Yuan Hao +2
Extending humanoid traversal to the open world is key to practical deployment in human environments, but remains challenging. The robot must use vision to ensure safe and reliable…
Look Forward to Walk Backward: Efficient Terrain Memory for Backward Locomotion with Forward Vision
Shixin Luo, Songbo Li, Yuan Hao +4
Legged robots with egocentric forward-facing depth cameras can couple exteroception and proprioception to achieve robust forward agility on complex terrain. When these robots walk…
CReF: Cross-modal and Recurrent Fusion for Depth-conditioned Humanoid Locomotion
Yuan Hao, Ruiqi Yu, Shixin Luo +3
Stable traversal over geometrically complex terrain increasingly requires exteroceptive perception, yet prior perceptive humanoid locomotion methods often remain tied to explicit g…
PUMA: Perception-driven Unified Foothold Prior for Mobility Augmented Quadruped Parkour
Liang Wang, Kanzhong Yao, Yang Liu +4
Parkour tasks for quadrupeds have emerged as a promising benchmark for agile locomotion. While human athletes can effectively perceive environmental characteristics to select appro…