1 citations · 1 across the 11 of their papers we have counts for
12 papers
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…
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…
START: Traversing Sparse Footholds with Terrain Reconstruction
Ruiqi Yu, Qianshi Wang, Hongyi Li +4
Traversing terrains with sparse footholds like legged animals presents a promising yet challenging task for quadruped robots, as it requires precise environmental perception and ag…
A Hierarchical Region-Based Approach for Efficient Multi-Robot Exploration
Di Meng, Tianhao Zhao, Chaoyu Xue +2
Multi-robot autonomous exploration in an unknown environment is an important application in robotics.Traditional exploration methods only use information around frontier points or…
MOVE: Multi-skill Omnidirectional Legged Locomotion with Limited View in 3D Environments
Songbo Li, Shixin Luo, Jun Wu +1
Legged robots possess inherent advantages in traversing complex 3D terrains. However, previous work on low-cost quadruped robots with egocentric vision systems has been limited by…
PIE: Parkour with Implicit-Explicit Learning Framework for Legged Robots
Shixin Luo, Songbo Li, Ruiqi Yu +3
Parkour presents a highly challenging task for legged robots, requiring them to traverse various terrains with agile and smooth locomotion. This necessitates comprehensive understa…
Walking with Terrain Reconstruction: Learning to Traverse Risky Sparse Footholds
Ruiqi Yu, Qianshi Wang, Yizhen Wang +3
Traversing risky terrains with sparse footholds presents significant challenges for legged robots, requiring precise foot placement in safe areas. To acquire comprehensive exteroce…
Toward Understanding Key Estimation in Learning Robust Humanoid Locomotion
Zhicheng Wang, Wandi Wei, Ruiqi Yu +2
Accurate state estimation plays a critical role in ensuring the robust control of humanoid robots, particularly in the context of learning-based control policies for legged robots.…