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cs.RO2026
GaitSpan: Growing Humanoid Locomotion from Walking to Running
Kwan-Yee Lin, Zilin Wang, Janelle J. Liu +1
A humanoid that can walk should not relearn locomotion from scratch to jog or run. Yet current approaches often obtain gait diversity by prescribing gait schedules, imitating motio…
cs.RO2025
Unified Humanoid Fall-Safety Policy from a Few Demonstrations
Zhengjie Xu, Ye Li, Kwan-yee Lin +1
Falling is an inherent risk of humanoid mobility. Maintaining stability is thus a primary safety focus in robot control and learning, yet no existing approach fully averts loss of…
cs.RO2025
Let Humanoids Hike! Integrative Skill Development on Complex Trails
Kwan-Yee Lin, Stella X. Yu
Hiking on complex trails demands balance, agility, and adaptive decision-making over unpredictable terrain. Current humanoid research remains fragmented and inadequate for hiking:…