27 papers
Mind Your Steps: A General Learning Framework for Accurate Humanoid Foothold Tracking
Alessandro Montenegro, Shihao Li, Puze Liu +2
Enabling humanoid robots to operate in complex, dynamic environments remains a critical challenge, fundamentally limited by the ability to navigate robustly, safely, and accurately…
A Wearable ECG Device for Differentiating Hypertrophic Cardiomyopathy from Acquired Left Ventricular Hypertrophy
Jiachen Li, Hanyu Zhu, Edward Kim +7
Hypertrophic Cardiomyopathy (HCM) is a genetic heart disease affecting approximately 1 in 500 people and is the leading cause of sudden cardiac death in young athletes. Current dia…
Optimization-Guided Diffusion for Interactive Scene Generation
Shihao Li, Naisheng Ye, Tianyu Li +7
Realistic and diverse multi-agent driving scenes are crucial for evaluating autonomous vehicles, but safety-critical events which are essential for this task are rare and underrepr…
VLM-in-the-Loop: A Plug-In Quality Assurance Module for ECG Digitization Pipelines
Jiachen Li, Shihao Li, Soovadeep Bakshi +2
ECG digitization could unlock billions of archived clinical records, yet existing methods collapse on real-world images despite strong benchmark numbers. We introduce \textbf{VLM-i…
Behavioral Score Diffusion: Model-Free Trajectory Planning via Kernel-Based Score Estimation from Data
Shihao Li, Jiachen Li, Jiamin Xu +1
Diffusion-based trajectory optimization has emerged as a powerful planning paradigm, but existing methods require either learned score networks trained on large datasets or analyti…
Gradient-Based Data Valuation Improves Curriculum Learning for Game-Theoretic Motion Planning
Shihao Li, Jiachen Li, Dongmei Chen
We demonstrate that gradient-based data valuation produces curriculum orderings that significantly outperform metadata-based heuristics for training game-theoretic motion planners.…