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cs.RO2026
DREAM-Chunk: Reactive Action Chunking with Latent World Model
Wenxi Chen, Kaidi Zhang, Chi Lin +6
Action chunking has become a common interface for vision-language-action (VLA) models, enabling low-frequency policy inference to drive high-frequency robot execution. However, onc…
cs.RO2026
PACE: Physics Augmentation for Coordinated End-to-end Reinforcement Learning toward Versatile Humanoid Table Tennis
Muqun Hu, Wenxi Chen, Wenjing Li +9
Humanoid table tennis (TT) demands rapid perception, proactive whole-body motion, and agile footwork under strict timing--capabilities that remain difficult for end-to-end control…
cs.RO2025
Model-agnostic Meta-learning for Adaptive Gait Phase and Terrain Geometry Estimation with Wearable Soft Sensors
Zenan Zhu, Wenxi Chen, Pei-Chun Kao +5
This letter presents a model-agnostic meta-learning (MAML) based framework for simultaneous and accurate estimation of human gait phase and terrain geometry using a small set of fa…