3 papers
cs.RO2025
SEEC: Stable End-Effector Control with Model-Enhanced Residual Learning for Humanoid Loco-Manipulation
Jaehwi Jang, Zhuoheng Wang, Ziyi Zhou +2
Arm end-effector stabilization is essential for humanoid loco-manipulation tasks, yet it remains challenging due to the high degrees of freedom and inherent dynamic instability of…
cs.RO2025
RL-augmented Adaptive Model Predictive Control for Bipedal Locomotion over Challenging Terrain
Junnosuke Kamohara, Feiyang Wu, Chinmayee Wamorkar +2
Model predictive control (MPC) has demonstrated effectiveness for humanoid bipedal locomotion; however, its applicability in challenging environments, such as rough and slippery te…
cs.LG2025
Inverse Reinforcement Learning with Switching Rewards and History Dependency for Characterizing Animal Behaviors
Jingyang Ke, Feiyang Wu, Jiyi Wang +2
Traditional approaches to studying decision-making in neuroscience focus on simplified behavioral tasks where animals perform repetitive, stereotyped actions to receive explicit re…