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cs.RO2026
Perceptive Behavior Foundation Model: Adapting Human Motion Priors to Robot-Centric Terrain
Zifan Wang, Yizhao Li, Teli Ma +5
Humanoid behavior foundation models aim to acquire reusable whole-body control policies from broad human motion priors, enabling a single controller to produce diverse and expressi…
cs.RO2025
Multi-IMU Sensor Fusion for Legged Robots
Shuo Yang, Zixin Zhang, John Z. Zhang +2
This paper presents a state-estimation solution for legged robots that uses a set of low-cost, compact, and lightweight sensors to achieve low-drift pose and velocity estimation un…
cs.RO2024
Robots with Attitude: Singularity-Free Quaternion-Based Model-Predictive Control for Agile Legged Robots
Zixin Zhang, John Z. Zhang, Shuo Yang +1
We present a model-predictive control (MPC) framework for legged robots that avoids the singularities associated with common three-parameter attitude representations like Euler ang…