4 accepted papers
Spoken language from older adults often deviates from written norms due to omission, disordered syntax, constituent errors, and redundancy, limiting the usefulness of automatic transcripts in downstream tasks. We present COAS2W, a Chinese spoken-to-written corpus of 10,004 utterances from older adul
In this paper, we study the whole-body loco-manipulation problem using reinforcement learning (RL). Specifically, we focus on the problem of how to coordinate the floating base and the robotic arm of a wheeled-quadrupedal manipulator robot to achieve direct six-dimensional (6D) end-effector (EE) pos
Generalizing locomotion policies across diverse legged robots with varying morphologies is a key challenge due to differences in observation/action dimensions and system dynamics. In this work, we propose \textit{Multi-Loco}, a novel unified framework combining a morphology-agnostic generative diffu…
This paper studies stabilizer design for position-controlled humanoid robots. Stabilizers are an essential part for position-controlled humanoids, whose primary objective is to adjust the control input sent to the robot to assist the tracking controller to better follow the planned reference traject…