Related papers: AME-2: Agile and Generalized Legged Locomotion via…

Social network analysis provides meaningful information about behavior of network members that can be used for diverse applications such as classification, link prediction. However, network analysis is computationally expensive because of…

We propose a control framework that integrates model-based bipedal locomotion with residual reinforcement learning (RL) to achieve robust and adaptive walking in the presence of real-world uncertainties. Our approach leverages a model-based…

Robust locomotion control depends on accurate state estimations. However, the sensors of most legged robots can only provide partial and noisy observations, making the estimation particularly challenging, especially for external states like…

Universal multimodal embedding (UME) maps heterogeneous inputs into a shared retrieval space with a single model. Recent approaches improve UME by generating explicit chain-of-thought (CoT) rationales before extracting embeddings, enabling…

Large pretrained vision-language models like CLIP have shown promising generalization capability, but may struggle in specialized domains (e.g., satellite imagery) or fine-grained classification (e.g., car models) where the visual concepts…

Large language models (LLMs) have shown significant potential in guiding embodied agents to execute language instructions across a range of tasks, including robotic manipulation and navigation. However, existing methods are primarily…

Agile locomotion in complex 3D environments requires robust spatial awareness to safely avoid diverse obstacles such as aerial clutter, uneven terrain, and dynamic agents. Depth-based perception approaches often struggle with sensor noise,…

Rotary Positional Embeddings (RoPE) have become the standard for Large Language Models (LLMs) due to their ability to encode relative positions through geometric rotation. However, we identify a significant limitation we term ''Spectral…

In the physical design of integrated circuits, global and detailed routing are critical stages involving the determination of the interconnected paths of each net on a circuit while satisfying the design constraints. Existing actual routers…

Manifold learning techniques, such as Locally linear embedding (LLE), are designed to preserve the local neighborhood structures of high-dimensional data during dimensionality reduction. Traditional LLE employs Euclidean distance to define…

Robots navigating dynamic, cluttered, and semantically complex environments must integrate perception, symbolic reasoning, and spatial planning to generalize across diverse layouts and object categories. Existing methods often rely on…

Latent Action Models (LAMs) enable Vision- Language-Action (VLA) systems to learn semantic action representations from large-scale unannotated data. Yet, we identify two bottlenecks of LAMs: 1) the commonly adopted end-to-end trained image…

Whole-body humanoid locomotion is challenging due to high-dimensional control, morphological instability, and the need for real-time adaptation to various terrains using onboard perception. Directly applying reinforcement learning (RL) with…

We present Lang2Motion, a framework for language-guided point trajectory generation by aligning motion manifolds with joint embedding spaces. Unlike prior work focusing on human motion or video synthesis, we generate explicit trajectories…

Reinforcement learning (RL) has demonstrated impressive performance in legged locomotion over various challenging environments. However, due to the sim-to-real gap and lack of explainability, unconstrained RL policies deployed in the real…

Advancements in reinforcement learning (RL) have inspired new directions in intelligent automation of network defense. However, many of these advancements have either outpaced their application to network security or have not considered the…

Legged robots, particularly quadrupeds, excel at navigating rough terrains, yet their performance under vertical ground perturbations, such as those from oscillating surfaces, remains underexplored. This study introduces a novel approach to…

While embeddings from multimodal large language models (LLMs) excel as general-purpose representations, their application to dynamic modalities like audio and video remains underexplored. We introduce WAVE (\textbf{u}nified \&…

Reinforcement learning (RL) is a promising data-driven approach for adaptive traffic signal control (ATSC) in complex urban traffic networks, and deep neural networks further enhance its learning power. However, centralized RL is infeasible…

In recent years, visual representation learning has gained widespread attention in robotic imitation learning. However, in complex Out-of-Distribution(OOD) settings characterized by clutter and occlusion, the attention of global visual…