Humanoid whole-body controllers can now track a diverse set of dynamic motions, but they are typically trained offline and then frozen, so teaching such a controller a new skill tends to erode the skills it already mastered. We study continual learning for humanoid whole-body motion, where a single controller must acqu...
Adjustable-set robust model predictive control (MPC) characterizes a state-dependent maximum disturbance radius, which can be interpreted as a certified robustness reserve. Existing methods primarily focus on optimizing and propagating this reserve under in-set disturbances. This letter investigates how much reserve re...
Wenqi Cai, M. Abdelghany, K. Vamvoudakis et al.· 0 citations
The framework, GauScoreMap, performs hierarchical scoring: a training-free global stage produces a CLIP relevance field over Gaussians and prunes the scene to a small set of candidate regions, and a local stage performs ray-image cross-attention within those regions and triangulates the 6D camera pose from the top-scor...
Yijie Deng, Shuaihang Yuan, Geeta Chandra Raju Bethala et al.· IEEE Robotics and Automation...· 4 citations· ⚡1
This paper evaluates whether a horizon-weighted sum of those multipliers, a dual stress signal, provides a hazard monitor complementary to the geometric warnings the same state already supports, against a battery of fifteen geometric detectors tuned to a matched false-alarm budget.
Jamilé Chahine, Wenqi Cai, John Abanes et al.· 0 citations
An online vision-aided safe human-to-humanoid motion imitation framework that integrates skeleton-based upper-body pose estimation, joint-space retargeting, and capsule-based Control Barrier Function Quadratic Program (CBF-QP) safety filtering is presented.
Wenqi Cai, John Abanes, N. Evangeliou et al.· Big Data and Cognitive Compu...· 0 citations
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