4 papers
RoboNaldo: Accurate, Stable and Powerful Humanoid Soccer Shooting via Motion-Guided Curriculum Reinforcement Learning
Yichao Zhong, Yidan Lu, Yuhang Lu +9
Elite humanoid soccer shooting requires whole-body stability, high-impulse whole-body interactions, and accuracy to targets. Motion tracking-driven reinforcement learning (RL) prov…
Self-EmoQ: Plutchik-Guided Value-based Planning to Drive Streaming Emotional TTS
Yue Zhao, Hongyan Li, Yong Chen +1
Emotional interaction is increasingly crucial for conversational AI, yet current systems lack a self-emotion determination mechanism to drive the streaming text-to-speech (TTS) syn…
FLARE: Learning Future-Aware Latent Representations from Vision-Language Models for Autonomous Driving
Chengen Xie, Chonghao Sima, Tianyu Li +4
While Vision-Language Models (VLMs) offer rich world knowledge for end-to-end autonomous driving, current approaches heavily rely on labor-intensive language annotations (e.g., VQA…
PlannerRFT: Reinforcing Diffusion Planners through Closed-Loop and Sample-Efficient Fine-Tuning
Hongchen Li, Tianyu Li, Jiazhi Yang +10
Diffusion-based planners have emerged as a promising approach for human-like trajectory generation in autonomous driving. Recent works incorporate reinforcement fine-tuning to enha…