Robots engaged in fast physical interactions often need to act before the intent of another agent is fully known. Anticipatory goalkeeping illustrates this challenge. Waiting provides more reliable information about the target but reduces the physical opportunity for interception, whereas acting early preserves reachab...
Humanoid kicking requires coordinated whole-body motion and precise contact, while a banana kick demands contact mechanics that generate ball spin and aerodynamic curvature. Motion imitation provides a reliable ordinary-kick prior, but reinforcement learning may improve shot speed and placement accuracy without changin...
Physical interaction quality is central to deformable-object manipulation, yet most benchmarks evaluate task success alone. A policy may complete the task while allowing slip or causing excessive compression. A primary bottleneck is the absence of visuo-tactile datasets that pair policy-visible contact observations wit...
Bowen Jing, Ming-Xin Wang, Ruiyang Hao et al.· 0 citations
KPI, a promptable kernel for physical interaction between the trajectory source and an unmodified whole-body tracker, is presented and demonstrated through an agentic framework: from one instruction, a vision-language agent writes both the reference trajectory and the contract, with no task-specific code.
Yi-Kai Wang, Hong-Hao Zhu, Xiao Hu et al.· 0 citations
These results support a state-based view of robot memory: effective memory for control is not simply retained visual history, but compact task-relevant state derived from the interaction history.
Yu-You Zhang, Yun-Bei Zhang, Miao Li et al.· 0 citations
Safety-aligned gradient enforcement (SAGE) is presented, which uses a differentiable finite-penalty proposal map while retaining the exact CBF quadratic program for execution, preserving constraint-normal sensitivity to internalize repeatedly active safety constraints.
R-U-Net is proposed, an ECG delineation model that pairs a ResNet-18 encoder with a U-Net decoder and shows that decoder design contributes more to performance gains than the evaluated SSL methods, motivating further exploration of architectures for ECG delineation.
Joseph Scharpf, William Jongwon Han, Chaojing Duan et al.· 0 citations
GaussianDream demonstrates that training-time current Gaussian reconstruction and future Gaussian prediction provide effective 3D supervision, but its dense VGGT/TGE-based prefix jointly carries state, dynamics, and action-conditioning information.
Yu-Qing Jiang, Zi-Jian Zhang, Wei-Tao Zhou et al.· 1 citation
River, a simple training recipe that improves reward quality by filtering low-quality environments and augmenting outcome rewards with process-level behavior regularization is proposed, which achieves the best performance among evaluated open-source RL-trained 8B models across four terminal-agent benchmarks.
Yi-Fan Yao, Bo Pang, Xuan-Phi Nguyen et al.· 2 citations
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