Author

Mu-Lin Chen

2 papers indexed here

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Preprint Sep 2026

PASSAGE: Scaling Scene-Aligned Motion Learning for Perceptive Humanoid Traversal in Cluttered Environments

Humanoid robots can step over, squeeze past, and duck under obstacles, but learning to select and coordinate these behaviors from onboard perception remains challenging. Many existing approaches rely on task-specific reinforcement-learning objectives or curated motion libraries, making broad behavioral coverage costly....

Yuxuan Ma, Zi-Cheng Zeng, Chun-Li Peng et al. · 1 citation

#natural language process... Open access Sep 2026

On-Policy Distillation for Vision-Language Model Adaptation, an Effective Paradigm on Low-Quality Multimodal Data

OnPoKD is the first framework that applies on-policy distillation to vision-language model adaptation by learning target construction as a policy decision, and is the first framework that applies on-policy distillation to vision-language model adaptation by learning target construction as a policy decision.

Hong-Yuan Zhang, Xian-Da Guo, Yan-Lun Peng et al. · Information Fusion · 0 citations