Author

Li-Hua Zhang

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Preprint Sep 2026

MulDP: Multimodal Diffusion Policy for Autonomous Quadruped Parkour Navigation across Complex Terrains

A Multimodal Diffusion Policy (MulDP) is proposed that integrates visual perception with robot proprioception and goal information to generate temporally coherent and anticipatory navigation velocity commands, tightly coupling perception with embodied control to enable robust autonomous navigation.

Kang-Mai Hu, Yue-Qi Zhang, Peng Zhai et al. · 1 citation

Preprint Sep 2026

SwingBot: Learning Whole-Body Brachiation for Humanoid Robots

Brachiation enables primates to move across overhead supports when ground paths are blocked, suggesting a complementary locomotion mode for robots operating in cluttered or hazardous environments. Bringing this capability to high-DoF humanoid robots is difficult because the controller must discover a long-horizon relea...

Yu-Jie Xiong, Peng Zhai, Tai-Wei Hou et al. · 0 citations

Sep 2026

QLIMB: End-to-End Whole-Body Control for Quadruped Loco-Manipulation and Balance on Complex Terrains

Equipping quadruped robots with manipulators significantly expands their operational workspace. However, for small-scale systems constrained by limited joint torques, achieving robust whole-body control on unstructured terrains remains a substantial challenge. Existing learning-based methods often face an inherent trad...

Quancheng Qian, Peng Zhai, Zonghao Zhang et al. · IEEE Robotics and Automation... · 0 citations