5 papers
MeshMimic: Geometry-Aware Humanoid Motion Learning through 3D Scene Reconstruction
Qiang Zhang, Jiahao Ma, Peiran Liu +20
Humanoid motion control has witnessed significant breakthroughs in recent years, with deep reinforcement learning (RL) emerging as a primary catalyst for achieving complex, human-l…
TopoNav: Topological Graphs as a Key Enabler for Advanced Object Navigation
Peiran Liu, Qiang Zhang, Daojie Peng +6
Object Navigation (ObjectNav) has made great progress with large language models (LLMs), but still faces challenges in memory management, especially in long-horizon tasks and dynam…
High-Level Surface Code Decoding via Parallel FFNNs on CIM Platforms
Hao Wang, Erjia Xiao, Wenbo Mu +9
Due to the high sensitivity of qubits to environmental noise, which leads to decoherence and information loss, active quantum error correction(QEC) is essential. Surface codes repr…
HumanoidPano: Hybrid Spherical Panoramic-LiDAR Cross-Modal Perception for Humanoid Robots
Qiang Zhang, Zhang Zhang, Wei Cui +13
The perceptual system design for humanoid robots poses unique challenges due to inherent structural constraints that cause severe self-occlusion and limited field-of-view (FOV). We…
LiPS: Large-Scale Humanoid Robot Reinforcement Learning with Parallel-Series Structures
Qiang Zhang, Gang Han, Jingkai Sun +7
In recent years, research on humanoid robots has garnered significant attention, particularly in reinforcement learning based control algorithms, which have achieved major breakthr…