11 accepted papers
Conventional LLMs may suffer from heterogeneous corpus and subtle condition changes. While finetuning can create the catastrophe forgetting issue, application of meta-learning on LLMs is also limited due to its complexity and scalability. In this paper, we activate the meta-signal of $\beta$ within …
Robust 3D semantic occupancy is essential for legged and humanoid robots, yet most Semantic Scene Completion (SSC) systems are built for wheeled platforms with forward-facing sensors. We present OneOcc, a vision-only panoramic SSC framework tailored to severe body jitter and 360deg continuity. OneOc
Legged robots are supposed to traverse complicated environments, which makes it challenging to design a model-based controller due to their functional complexity. Currently, using deep reinforcement learning to improve the adaptability of robots in complex scenarios has been a major research trend.
Terrain classification is crucial for assessing terrain traversability and supporting locomotion control of legged robots. By integrating multi-source sensor information, including exteroceptive sensors and proprioceptive sensors, legged robots can acquire terrain geometric features and surface cove
World models have been widely utilized in robotics, gaming, and autonomous driving. However, their applications to natural language tasks are relatively limited. In this paper, we construct the dialogue world model, which could predict future utterances and user beliefs, including emotion, sentiment
We present GOEN, an advanced navigation and path planning framework specifically engineered to tackle the complexities of dynamic and unstructured environments through real-time 3D pointcloud processing. Our approach integrates pointcloud downsampling, collision risk assessment, and obstacle endpoin
This letter presents a control framework for legged robots that enables self-perception and resistance to external disturbances. First, a novel proprioceptive-based disturbance estimator is proposed. Compared with other disturbance estimators, this estimator possesses notable advantages in terms of
To achieve more dexterous surgical operations, development of robots with more degrees of freedom (DOFs) is becoming one of the main trends for surgical robot research. However, manipulation complexity is therefore increased and it is difficult for surgeons to control all the DOFs with two hands alo
A novel legged robot with 6 limbs driven by 20 proprioceptive motors, named SDUHex, is proposed in this letter. The limbs located at the middle of the robot can work as manipulators or locomotors. The topology design of the multi-mode robot is introduced and the kinematics and dynamics of the robot
Quadruped locomotion is a challenging task for learning-based algorithms. It requires tedious manual tuning and is difficult to deploy in reality due to the reality gap. In this paper, we propose a quadruped robot learning system for agile locomotion which does not require any pre-training and works…
A method for planning and controlling the somersault motion of a quadruped robot is proposed in this paper. The method divides the somersault motion into 5 stages according to intuitive understanding. Based on the simplified dynamic model, the linear programming method is used to obtain the maximum…