10 papers
KiVi: Kinesthetic-Visuospatial Integration for Dynamic and Safe Egocentric Legged Locomotion
Peizhuo Li, Hongyi Li, Yuxuan Ma +8
Vision-based locomotion has shown great promise in enabling legged robots to perceive and adapt to complex environments. However, visual information is inherently fragile, being vu…
TAGA: Terrain-aware Active Gaze Learning for Generalizable Agile Humanoid Locomotion
Peizhuo Li, Hongyi Li, Mingfeng Fan +9
Agile humanoid locomotion across diverse challenging terrain demands both wide perceptual coverage and precise local geometry understanding. Motivated by the way humans selectively…
HeLoM: Hierarchical Learning for Whole-Body Loco-Manipulation by a Hexapod Robot
Xinrong Yang, Peizhuo Li, Hongyi Li +8
In nature, animals often need to move/manipulate objects comparable in weight/size to their own bodies. Compared to grasping and carrying, pushing provides a more straightforward a…
CoordLight: Learning Decentralized Coordination for Network-Wide Traffic Signal Control
Yifeng Zhang, Harsh Goel, Peizhuo Li +3
Adaptive traffic signal control (ATSC) is crucial in alleviating congestion, maximizing throughput and promoting sustainable mobility in ever-expanding cities. Multi-Agent Reinforc…
LATS: Large Language Model Assisted Teacher-Student Framework for Multi-Agent Reinforcement Learning in Traffic Signal Control
Yifeng Zhang, Peizhuo Li, Tingguang Zhou +2
Adaptive Traffic Signal Control (ATSC) aims to optimize traffic flow and minimize delays by adjusting traffic lights in real time. Recent advances in Multi-agent Reinforcement Lear…
Unicorn: A Universal and Collaborative Reinforcement Learning Approach Towards Generalizable Network-Wide Traffic Signal Control
Yifeng Zhang, Yilin Liu, Ping Gong +3
Adaptive traffic signal control (ATSC) is crucial in reducing congestion, maximizing throughput, and improving mobility in rapidly growing urban areas. Recent advancements in param…