Yucheng Xin

RPG: Robust Policy Gating for Smooth Multi-Skill Transitions in Humanoid Fighting

Efficient Collision Detection Framework for Enhancing Collision-Free Robot Motion

Fast and efficient collision detection is essential for motion generation in robotics. In this paper, we propose an efficient collision detection framework based on the Signed Distance Field (SDF) of robots, seamlessly integrated with a self-collision detection module. Firstly, we decompose the robo

FOSP: Fine-tuning Offline Safe Policy through World Models

Offline Safe Reinforcement Learning (RL) seeks to address safety constraints by learning from static datasets and restricting exploration. However, these approaches heavily rely on the dataset and struggle to generalize to unseen scenarios safely. In this paper, we aim to improve safety during the d…