7 accepted papers
The huge parameters and extensive training corpora of Large Language Models (LLMs) empower them to tackle complex tasks. Yet, their massive size incurs substantial inference costs, hindering deployment on resource‑constrained edge devices. Low‑bit quantization provides a way to compress models and i
This letter presents a model-agnostic meta-learning (MAML) based framework for simultaneous and accurate estimation of human gait phase and terrain geometry using a small set of fabric-based wearable soft sensors, with efficient adaptation to unseen subjects and strong generalization across differen
Humanoid table tennis (TT) demands rapid perception, proactive whole-body motion, and agile footwork under strict timing—capabilities that remain difficult for end-to-end control policies. We propose a reinforcement learning (RL) framework that maps ball-position observations directly to whole-body …
The integration of foundation models (FMs) into robotics has accelerated real-world deployment, while introducing new safety challenges arising from open-ended semantic reasoning and embodied physical action. These challenges require safety notions beyond physical constraint satisfaction. In this po…
Out-of-distribution (OOD) detection is the task of identifying inputs that deviate from the training data distribution. This capability is essential for the safe deployment of deep computer vision models in open-world environments. In this work, we propose a post-hoc method, Perturbation-Rectified O…
In this paper, we propose to achieve exponentially stable periodic bipedal walking based on recharacterization of bipedal gait and generalization of walking encoding. To conveniently define an asymmetric walking pattern, a gait is characterized here in terms of the left and the right legs instead of
Locomotion stability of a humanoid robot is closely related to the capacity to regulate its Center of Mass (CoM) motion. In this paper, the Feasible Center of Mass Dynamic Manipulability (FCDM) is introduced and analyzed as a measure of this capacity. The effects of posture, joint velocities and gra…