6 papers
Learning Slope-Adaptive Whole-Body Locomotion for Humanoid Robots in Roofing Construction
Songyang Liu, Shuai Li
Roofing requires workers to coordinate locomotion, balance, and work-related body motions on pitched surfaces, creating a challenging application for humanoid robots. Directly reta…
HOIST: Humanoid Optimization with Imitation and Sample-efficient Tuning for Manipulating Suspended Loads
Songyang Liu, Shunyu Yao, Dingyuan Huang +1
Manipulating suspended payloads with humanoid robots is challenging because the robot can only influence an underactuated, oscillatory load through whole-body motion and intermitte…
Learning Spatial Awareness for Laparoscopic Surgery with AI Assisted Visual Feedback
Songyang Liu, Yunpeng Tan, Shuai Li
Laparoscopic surgery constrains surgeons spatial awareness because procedures are performed through a monocular, two-dimensional (2D) endoscopic view. Conventional training methods…
Origin-Destination Pattern Effects on Large-Scale Mixed Traffic Control via Multi-Agent Reinforcement Learning
Muyang Fan, Songyang Liu, Shuai Li +1
Traffic congestion remains a major challenge for modern urban transportation, diminishing both efficiency and quality of life. While autonomous driving technologies and reinforceme…
Large-Scale Mixed-Traffic and Intersection Control using Multi-agent Reinforcement Learning
Songyang Liu, Muyang Fan, Weizi Li +2
Traffic congestion remains a significant challenge in modern urban networks. Autonomous driving technologies have emerged as a potential solution. Among traffic control methods, re…
TEeVTOL: Balancing Energy and Time Efficiency in eVTOL Aircraft Path Planning Across City-Scale Wind Fields
Songyang Liu, Shuai Li, Haochen Li +2
Electric vertical-takeoff and landing (eVTOL) aircraft, recognized for their maneuverability and flexibility, offer a promising alternative to our transportation system. However, t…