3 papers
cs.RO2026
SixthSense: Task-Agnostic Proprioception-Only Whole-Body Wrench Estimation for Humanoids
Xingzhou Chen, Xiayan Xu, Yan Ning +8
Humanoid robots are entering our physical world at scale, yet as oversized toys--good at singing and dancing, but short on force-interaction capabilities for practical tasks. Bridg…
cs.RO2026
X2-N: A Transformable Wheel-legged Humanoid Robot with Dual-mode Locomotion and Manipulation
Yan Ning, Xingzhou Chen, Delong Li +6
Wheel-legged robots combine the efficiency of wheeled locomotion with the versatility of legged systems, enabling rapid traversal over both continuous and discrete terrains. Howeve…
eess.SY2025
Secure State Estimation of Cyber-Physical Systems via Gaussian Bernoulli Mixture Model
Xingzhou Chen, Nachuan Yang, Peihu Duan +2
The implementation of cyber-physical systems in real-world applications is challenged by safety requirements in the presence of sensor threats. Most cyber-physical systems, especia…