4 papers
Ego-Vision World Model for Humanoid Contact Planning
Hang Liu, Yuman Gao, Sangli Teng +5
Enabling humanoid robots to exploit physical contact, rather than simply avoid collisions, is crucial for autonomy in unstructured environments. Traditional optimization-based plan…
CHyLL: Learning Continuous Neural Representations of Hybrid Systems
Sangli Teng, Hang Liu, Jingyu Song +1
Learning the flows of hybrid systems that have both continuous and discrete time dynamics is challenging. The existing method learns the dynamics in each discrete mode, which suffe…
Imaginative World Modeling with Scene Graphs for Embodied Agent Navigation
Yue Hu, Junzhe Wu, Ruihan Xu +5
Semantic navigation requires an agent to navigate toward a specified target in an unseen environment. Employing an imaginative navigation strategy that predicts future scenes befor…
Discrete-Time Hybrid Automata Learning: Legged Locomotion Meets Skateboarding
Hang Liu, Sangli Teng, Ben Liu +2
Hybrid dynamical systems, which include continuous flow and discrete mode switching, can model robotics tasks like legged robot locomotion. Model-based methods usually depend on pr…