78 citations · 78 across the 6 of their papers we have counts for
7 papers
Breaking speed scaling in quadrupedal robots via Huygens' coupled-pendulum dynamics
Yucheng Tao, Yongbin Jin, Shaowen Cheng +8
Achieving biological-level running speeds has largely been pursued through advances in control algorithms, which improve the utilization of existing hardware. However, the ultimate…
Extending the Speed Limit of Quadrupedal Locomotion via Refined Actuator Modeling and Adaptive Command Scheduling
Yucheng Tao, Shaowen Cheng, Guorong Lan +3
Achieving high-speed locomotion in quadrupedal robots remains highly challenging, as actuators operate near their physical limits and exhibit pronounced nonlinearities. However, ma…
Expressive Robotic Pianist: Mastering Complex Piano Repertoire with Graph-Mimic and Musical Dynamics
Yanhong Liang, Xianwei Liu, Chaojie Fu +7
Enabling robots to perform musical instruments with human-level expressivity represents a frontier in bridging the gap between mechanical precision and artistic interpretation. Des…
PGMT: Perceptive General Motion Tracking for Humanoid Robots
Hongyi Li, Li Peizhuo, Yucheng Tao +9
Humanoid motion trackers can reproduce diverse whole-body motions, but their performance degrades on complex terrain where terrain-agnostic references become physically infeasible.…
SWAP: Symmetric Equivariant World-Model for Agile Robot Parkour
Kaixin Lan, Ze Wang, Hongyi Li +6
While latent world models enable the proactive predictions required for extreme parkour, their purely data-driven nature forces them to redundantly encode left-right symmetric inte…
TAGA: Terrain-aware Active Gaze Learning for Generalizable Agile Humanoid Locomotion
Peizhuo Li, Hongyi Li, Mingfeng Fan +13
Agile humanoid locomotion across diverse challenging terrain demands both wide perceptual coverage and precise local geometry understanding. Motivated by the way humans selectively…
Learning Free Gait Transition for Quadruped Robots via Phase-Guided Controller
Yecheng Shao, Yongbin Jin, Xianwei Liu +3
Gaits and transitions are key components in legged locomotion. For legged robots, describing and reproducing gaits as well as transitions remain longstanding challenges. Reinforcem…