4 papers · 1 filter
Beyond Fixed Visual History: Learning Motion-Adaptive Temporal Receptive Fields for Complex-Terrain Quadruped Locomotion
Hao Zhang, Yuping Yan, Yitian Hong +5
Versatile quadruped locomotion depends on a tight coupling between what the robot perceives and what its body can execute. Yet existing visual controllers typically organize depth…
QuietWalk: Physics-Informed Reinforcement Learning for Ground Reaction Force-Aware Humanoid Locomotion Under Diverse Footwear
Hanze Hu, Luying Feng, Silu Chen +6
Humanoid robots operating in human-centered environments (e.g., homes, hospitals, and offices) must mitigate foot--ground impact transients, as impact-induced vibration and noise d…
Biomechanical Comparisons Reveal Divergence of Human and Humanoid Gaits
Luying Feng, Yaochu Jin, Hanze Hu +1
It remains challenging to achieve human-like locomotion in legged robots due to fundamental discrepancies between biological and mechanical structures. Although imitation learning…
ULC: A Unified and Fine-Grained Controller for Humanoid Loco-Manipulation
Wandong Sun, Luying Feng, Baoshi Cao +3
Loco-Manipulation for humanoid robots aims to enable robots to integrate mobility with upper-body tracking capabilities. Most existing approaches adopt hierarchical architectures t…