7 papers
Learning Task-Invariant Properties via Dreamer: Enabling Efficient Policy Transfer for Quadruped Robots
Junyang Liang, Yuxuan Liu, Yabin Chang +5
Achieving quadruped robot locomotion across diverse and dynamic terrains presents significant challenges, primarily due to the discrepancies between simulation environments and rea…
UNeMo: Collaborative Visual-Language Reasoning and Navigation via a Multimodal World Model
Changxin Huang, Lv Tang, Zhaohuan Zhan +5
Vision-and-Language Navigation (VLN) requires agents to autonomously navigate complex environments via visual images and natural language instructions--remains highly challenging.…
Revisiting Cross-Architecture Distillation: Adaptive Dual-Teacher Transfer for Lightweight Video Models
Ying Peng, Hongsen Ye, Changxin Huang +3
Vision Transformers (ViTs) have achieved strong performance in video action recognition, but their high computational cost limits their practicality. Lightweight CNNs are more effi…
Whole-Body Coordination for Dynamic Object Grasping with Legged Manipulators
Qiwei Liang, Boyang Cai, Rongyi He +5
Quadrupedal robots with manipulators offer strong mobility and adaptability for grasping in unstructured, dynamic environments through coordinated whole-body control. However, exis…
Automated Hybrid Reward Scheduling via Large Language Models for Robotic Skill Learning
Changxin Huang, Junyang Liang, Yanbin Chang +2
Enabling a high-degree-of-freedom robot to learn specific skills is a challenging task due to the complexity of robotic dynamics. Reinforcement learning (RL) has emerged as a promi…
Efficient Language-instructed Skill Acquisition via Reward-Policy Co-Evolution
Changxin Huang, Yanbin Chang, Junfan Lin +3
The ability to autonomously explore and resolve tasks with minimal human guidance is crucial for the self-development of embodied intelligence. Although reinforcement learning meth…