Author

Zhen Sun

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Nov 2026

Step Into the Unknown: Online Visual-Physical Bayesian Inference for Open-World Terrain Perception

Reliable terrain perception is fundamental for the embodied navigation of legged robots in open-world environments. However, dynamically discovering unbounded terrain categories from streaming visual and proprioceptive data remains challenging. Existing methods suffer from catastrophic forgetting, rely on computational...

Ze-Yu Zhang, Ke-Hui Ma, Zhen Sun et al. · IEEE Robotics and Automation... · 0 citations

#machine learning Preprint May 2026

A Dual Representation of Influence Functions for Linearizable Models

This representation can be an efficient alternative to the original influence functions for estimating changes in parameters, model outputs and loss due to data point removal, when model size is large relative to dataset size, or when evaluating the original influence functions in parameter space is infeasible.

Zhen Sun, S. Valaee · 0 citations