Haomin Rong — accepted AI-conference papers

2026

Mixture-Of-Experts Policy for Smooth and Stable Multi-Posture Fall Recovery in Bipedal Robot

Haomin Rong, Yuying Chen, Zhiyong Xu, Lijie Xie, Qingyu Yan, Hui Cheng

ICRA 2026poster

Bipedal robots are inherently prone to falling due to their higher center of mass and narrower support polygon, making automatic fall recovery a long-standing challenge. Existing approaches often rely on posture-specific strategies or exhibit limited robustness and generalization, restricting their …

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2025

Biomechanically-Inspired Bipedal Robot Locomotion via Hybrid Gait Representation and Model-Guided Reinforcement Learning

Lijie Xie, Haomin Rong, Zujian Chen, Zida Zhou, Shaolin Mo, Hui Cheng

IROS 2025

Achieving stable and natural locomotion in bipedal robots, comparable to that of humans and animals, remains a long-standing challenge in robotics. In this work, we propose a bio-inspired low-level control framework that streamlines the generation of naturalistic gait patterns while ensuring adaptab

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