Author

Cheng-Wei Zhuo

2 papers indexed here

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Open access Sep 2026

Assisted exploration of difficult transitions in humanoid motion tracking.

Humanoid motion tracking provides a scalable interface for transferring kinematic human motion to whole-body robot control, but highly dynamic and contact-rich references remain difficult because underactuation and discontinuous contacts can restrict the closed-loop state distributions explored during training. Externa...

Chao-Jie Fu, Cheng-Kai Su, Lei Jiang et al. · Frontiers in Neurorobotics · 0 citations

Preprint Sep 2026

Expressive Robotic Pianist: Mastering Complex Piano Repertoire with Graph-Mimic and Musical Dynamics

This work demonstrates that a dexterous robotic hand can achieve high-fidelity performance across a diverse piano repertoire through a reinforcement learning-based control framework and provides a robust pathway for robotic systems to move beyond mere mechanical accuracy, elevating robotic musicianship to a level of ex...

Yan-Hong Liang, Xian-Wei Liu, Chao-Jie Fu et al. · 1 citation