10 papers
P3: Probabilistic Policy Propagation for Stable VAE-Based Robot Learning
Liyun Yan, Jianming Ma, Yang Zhang +5
Variational Autoencoders are widely used to encode high-dimensional and noisy observations in robotics. However, their stochastic latent creates a mismatch with Proximal Policy Opt…
PolyFlow: Safe and Efficient Polytope-Constrained Flow Matching with Constraint Embedding and Projection-free Update
Jianming Ma, Qiyue Yang, Yang Zhang +4
While flow-based generative models have demonstrated strong performance across a wide range of domains, deploying them in safety-critical physical systems remains challenging due t…
HierKick: Hierarchical Reinforcement Learning for Vision-Guided Soccer Robot Control
Yizhi Chen, Zheng Zhang, Zhanxiang Cao +7
Controlling soccer robots involves multi-time-scale decision-making, which requires balancing long-term tactical planning and short-term motion execution. Traditional end-to-end re…
HiWET: Hierarchical World-Frame End-Effector Tracking for Long-Horizon Humanoid Loco-Manipulation
Zhanxiang Cao, Liyun Yan, Yang Zhang +7
Humanoid loco-manipulation requires executing precise manipulation tasks while maintaining dynamic stability amid base motion and impacts. Existing approaches typically formulate c…
FocusNav: Spatial Selective Attention with Waypoint Guidance for Humanoid Local Navigation
Yang Zhang, Jianming Ma, Liyun Yan +4
Robust local navigation in unstructured and dynamic environments remains a significant challenge for humanoid robots, requiring a delicate balance between long-range navigation tar…
Coordinated Humanoid Robot Locomotion with Symmetry Equivariant Reinforcement Learning Policy
Buqing Nie, Yang Zhang, Rongjun Jin +4
The human nervous system exhibits bilateral symmetry, enabling coordinated and balanced movements. However, existing Deep Reinforcement Learning (DRL) methods for humanoid robots n…