Author

Borui He

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Preprint Sep 2026

A Multimodal Label Forecasting Method for Aperiodic Visuo-Motor Time Series

This work contributes two new benchmark datasets, showing that periodicity is violated and recent deep TSF methods struggle on these benchmarks, and proposes a novel deep learning architecture that exploits both endogenous and exogenous variables and a training process that rigorously enforces i.i.d sampling of trainin...

Borui He, G. E. Katz · 0 citations

Preprint Aug 2026

Closing the Loop on the Poppy Humanoid: Bipedal Locomotion with Linear-Quadratic Control and Learned Cost Functions

A functional closed-loop walking controller for Poppy, based on the linear-quadratic regulator (LQR) framework for trajectory tracking, which learns a quadratic cost function for an LQR controller that substantially improves the reliability of the motion.

Xu-Lin Chen, Borui He, Rui-Peng Liu et al. · 0 citations