9 papers
Anticipatory Robot Goalkeeping via Monotone Optimal Stopping
Hao E. Zhang, Ruize Geng, Yisen Li +8
Robots engaged in fast physical interactions often need to act before the intent of another agent is fully known. Anticipatory goalkeeping illustrates this challenge. Waiting provi…
SAGE: Safety-Aligned Gradient Enforcement for Human--Robot Collaboration
Yisen Li, Hao Zhang, Ruize Geng +3
Multi-party human-robot collaboration poses a dual challenge: robot decisions should remain interpretable and auditable, while executed actions must satisfy safety constraints duri…
Dynamics-Induced Commitment in Learning-Based Robotic Penalty Kicks
Ruize Geng, Hao E. Zhang, Yisen Li +3
Learning in robotic games is constrained not only by strategic information but also by what the body can still execute. We study this coupling in a hierarchical humanoid-quadruped…
EMMa: End-Effector Stability-Oriented Mobile Manipulation for Tracked Rescue Robots
Yifei Wang, Hao Zhang, Jidong Huang +2
The autonomous operation of tracked mobile manipulators in rescue missions requires not only ensuring the reachability and safety of robot motion but also maintaining stable end-ef…
Learning Versatile Humanoid Manipulation with Touch Dreaming
Yaru Niu, Zhenlong Fang, Binghong Chen +8
Humanoid robots promise general-purpose assistance, yet real-world humanoid loco-manipulation remains challenging because it requires whole-body stability, end-effector dexterity,…
ExtremControl: Low-Latency Humanoid Teleoperation with Scaled Velocity Feedforward
Ziyan Xiong, Lixing Fang, Junyun Huang +3
Building a low-latency humanoid teleoperation system is essential for collecting diverse reactive and dynamic demonstrations. However, end-to-end latencies in existing approaches c…
Cognition to Control - Multi-Agent Learning for Human-Humanoid Collaborative Transport
Hao Zhang, Ding Zhao, Yisen Li +4
Full-stack human-robot collaboration (HRC) can become brittle when replacing a planner, partner model, coordination policy, or controller changes the physical meaning of cross-laye…
Interaction-Aware Whole-Body Control for Compliant Object Transport
Hao Zhang, Yves Tseng, Ding Zhao +1
Cooperative object transport in unstructured environments remains challenging for assistive humanoids because strong, time-varying interaction forces can make tracking-centric whol…
HALO: Learning Human-Robot Collaboration via Heterogeneous-Agent Lyapunov Policy Optimization
Hao Zhang, Yaru Niu, Yikai Wang +2
To improve generalization and resilience in human-robot collaboration (HRC), robots must contend with diverse combinations of human behaviors and contexts, motivating multi-agent r…