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Wei-Chao Chen

6 accepted papers

2026

Feasibility-Guided Planning Over Multi-Specialized Locomotion Policies

Ying-Sheng Luo, Lu-Ching Wang, Hanjaya Mandala, Yu-Lun Chou, Guilherme Henrique Galelli Christmann, Yu-Chung Chen +3
ICRA 2026poster

Planning over unstructured terrain presents a significant challenge in the field of legged robotics. Although recent works in reinforcement learning have yielded various locomotion strategies, planning over multiple experts remains a complex issue. Existing approaches encounter several constraints: …

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2026

How Bias Binds: Measuring Hidden Associations for Bias Control in Text-to-Image Compositions

Jeng-Lin Li, Ming-Ching Chang, Wei-Chao Chen
AAAI 2026technical

Text-to-image generative models often exhibit bias related to sensitive attributes. However, current research tends to focus narrowly on single-object prompts with limited contextual diversity. In reality, each object or attribute within a prompt can contribute to bias. For example, the prompt ``an

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2024

Benchmarking Smoothness and Reducing High-Frequency Oscillations in Continuous Control Policies

Guilherme Christmann, Ying-Sheng Luo, Hanjaya Mandala, Wei-Chao Chen
IROS 2024poster

Reinforcement learning (RL) policies are prone to high-frequency oscillations, especially undesirable when deploying to hardware in the real-world. In this paper, we identify, categorize, and compare methods from the literature that aim to mitigate high-frequency oscillations in deep RL. We define t…

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2024

Expert Composer Policy: Scalable Skill Repertoire for Quadruped Robots

Guilherme Christmann, Ying-Sheng Luo, Wei-Chao Chen
ICRA 2024poster

We propose the expert composer policy, a framework to reliably expand the skill repertoire of quadruped agents. The composer policy links pair of experts via transitions to a sampled target state, allowing experts to be composed sequentially. Each expert specializes in a single skill, such as a loco…

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2023

Expanding Versatility of Agile Locomotion through Policy Transitions Using Latent State Representation

Guilherme Christmann, Ying-Sheng Luo, Jonathan Hans Soeseno, Wei-Chao Chen
ICRA 2023poster

This paper proposes the transition-net, a robust transition strategy that expands the versatility of robot locomotion in the real-world setting. To this end, we start by distributing the complexity of different gaits into dedicated locomotion policies applicable to real-world robots. Next, we expand…

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2017

Unrolled Memory Inner-Products: An Abstract GPU Operator for Efficient Vision-Related Computations

Yu-Sheng Lin, Wei-Chao Chen, Shao-Yi Chien
ICCV 2017spotlight

Recently, convolutional neural networks (CNNs) have achieved great success in fields such as computer vision, natural language processing, and artificial intelligence. Many of these applications utilize parallel processing in GPUs to achieve higher performance. However, it remains a daunting task to…

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